Navigation system for automotive vehicle with automatic navigation start and navigation end point search and automatic route selection

• US 4,796,189 A
• Filed: 03/19/1986
• Issued: 01/03/1989
• Est. Priority Date: 03/20/1985
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Ueno, Hiroshi, Itoh, Toshiyuki, Nakayama, Okihiko
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/842,365
• Time in Patent Office: 1,021 Days
• Field of Search: 364/443, 364/444, 364/449, 364/460, 364/521, 73/178 R, 342/450, 342/451, 340/988, 340/990, 340/995
• US Class Current: 701/209
• CPC Class Codes: G01C 21/3632 Guidance using simplified or iconic instructions, e.g. using arrows G01C21/365 takes precedence
• CPC Class Codes: G01C 21/367 Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker

Abstract

A navigation system has a map memory storing map data. The road map stored in the map memory is divided into a plurality of pages further subdivided into continuous blocks. The map memory also stores identification data for the blocks and index data for various points within the map blocks. The index data includes position data for a plurality of known points. The navigation system also includes an input unit for entry of the identification data for a map memory block and/or the index data for known points, and a display unit for displaying a map block on a display monitor. A processor of the navigation system accepts entry of the index data for a travel starting point and a destination through the input unit. Based on the entered data, the processor searches for the map blocks containing the designated known points. The processor progressively expands the search area along a vector between the travel starting point and the destination. The process finds the known point closest to the travel starting point and the other known point closest to the destination along the vector and stores these as the navigation start point and the navigation end point.

Claims

1. A navigation system for an automotive vehicle comprising:

first means for monitoring vehicle motion and deriving first data indicative of vehicle travelling data;

second means for storing a map which is separated into a plurality of blocks and includes a plurality of known points;

third means for entry of position data of at least a start point and a destination;

fourth means operable for selection of a route for the vehicle and storing the selected route, said fourth means storing second data indicative of a navigation start point, a navigation end point, designated known points along said route and between said navigation start point and said navigation end point, and a predetermined condition for detecting when the vehicle reaches each of said designated known points, said fourth means determining one of the known points closest to the start point as said navigation start point and another of the known points closest to the destination as said navigation end point by searching said known points within a search area which is expandable in a limited direction determined based on a direction of a straight line extending through the start point and the destination;

fifth means for displaying said map stored in said second means, and a symbol representing a vehicle position; and

sixth means for setting a travel zone between successive designated known points and displaying instantaneous position of said vehicle, said sixth means further operable for;

monitoring said vehicle position within said travel zone;

detecting when said predetermined condition is satisfied; and

,

in such cases, setting a successive travel zone.

2. A navigation system as set forth in claim 1, wherein said fourth means determines said limited expanding direction of said search area by dividing a coordinate system into a plurality of sectors and selecting one of said sectors including said direction along which said straight line lies.

3. A navigation system as set forth in claim 2, wherein said fourth means expands said search area in an iterative fashion whenever no known point is found in said search area.

4. A navigation system as set forth in claim 3, wherein said sixth means detects the approach of the vehicle to a next designated known point on the basis of said first data, detects when the distance from the vehicle position to said next designated known point is less than a given distance, thus defining an area centered at said next designated known point, detects when the vehicle enters said defined area and checks said second data against a given direction so as to detect when vehicle travel direction matches said given direction, thereby detecting when said predetermined condition is satisfied, and that the vehicle has reached said next designated known point.

5. A navigation system as set forth in claim 3, wherein said sixth means derives a distance of travel from a starting designated known point, detects the approach of the vehicle to a next designated known point on the basis of said first data, and detects when the distance from the vehicle position to said next designated known point is less than a given distance, thereby defining an area centered at said next designated known point, detects when the vehicle enters said defined area and compares said derived travel distance with a known distance between said designated known points, thereby detecting when said predetermined condition is satisfied, and thereby detecting that the vehicle has reached said next designated known point.

6. A nagivation system as set forth in claim 3, wherein said fourth means stores data indicative of the vehicle travel direction while approaching a next designated known point and the vehicle travel direction leaving said next designated known point, and derives said direction data so as to represent a direction intermediate said stored directions.

7. A navigation system as set forth in claim 4, wherein said first means replaces said first data indicative of vehicle position with position data for said next designated known point when said sixth means detects that the vehicle has reached said next designated known point.

8. A navigation system as set forth in claim 5, wherein said first means replaces said first data indicative of vehicle position with position data for said next designated known point when said sixth means detects that the vehicle has reached said next designated known point.

9. A navigation system as set forth in claim 8, wherein said first means replaces said first data with the position data of said next designated known point when the travel distance derived by said sixth means matches the known distance between the two designated points at least within said defined area, in cases where vehicle travel directions approaching and leaving said next designated known point are approximately equal.

10. A navigation system as set forth in claim 9, wherein said sixth means defines said defined area as a circular area of variable radius related to an error value when said approaching direction and leaving direction are different, and as an elongated area having a minor axis parallel to the vehicle travel direction, and a major axis perpendicular to said vehicle travel direction.

11. A navigation system as set forth in claim 10, wherein said first means replaces said first data with the position data of said next designated known point when the vehicle travel distance from a former designated known point is less than said known distance between said two designated known points when the vehicle exits a distal side of said elongated area.

12. A navigation system as set forth in claim 11, wherein said sixth means defines a new travel zone whenever said first data is replaced with the position data for said next designated known point.

13. A navigation system for an automotive vehicle comprising:

a map memory storing a road map which is divided into a plurality of pages further subdivided into contiguous blocks, said map memory also storing identification data for the blocks and index data for various points within the map blocks, which index data includes position data for a plurality of known points;

an input unit for entry of the identification data for a map memory block and the index data for known points;

a display unit for displaying on a display screen a map block based on said identification data;

a processor accepting entry of the index data for a travel starting point and a destination through the input unit, searching for the map blocks containing the designated known points based on said entered data, said processor progressively expanding the search area along a vector between the travel starting point and the destination, said processor finding the known point closest to the travel starting point and the other known point closest to the destination along the vector and storing these known points as the navigation start point and the navigation end point, and said processor further determining a route between said navigation start point and said navigation end point.

14. A process for navigation of a vehicle along a preset route comprising the steps of:

providing a road map which is divided into a plurality of map blocks and including data for a plurality of known points on a map;

providing input data defining a start point and a destination;

displaying said road map on a visual display screen;

searching in a given search area for finding known points which are closest to said start point and said destination for designation as a navigation start point and a navigation end point, said given search area originally corresponding to an area of said map blocks including said start point and said destination and progressively expanding in a limited direction which is determined based on a direction between said start point and said destination;

presetting a route between said navigation start point and said navigation end point across said map and designating known points along the preset route;

defining a travel zone between a first starting designated known point and a second designated known point along said route;

monitoring vehicle travel distance within said travel zone and detecting when the vehicle approaches to within a first given area of said second designated known point;

displaying a symbol indicative of the instantaneous vehicle position through said travel zone;

monitoring vehicle travel within said first given area for comparison with a predetermined criterion for detecting when the vehicle coincides with said second designated known point;

shifting a vehicle position indicative symbol to said designated known point on the display; and

redefining said travel zone by taking the second designated known point which currently coincides with said vehicle as said first designated known point and selecting a neighboring designated known point as said second designated known point.

15. The process as set forth in claim 14, which detects when the vehicle coincides with said first given area by monitoring vehicle driving direction and comparing said vehicle driving direction with a known direction.

16. The process as set forth in claim 15, wherein said known direction is derived from a known first vehicle travel direction assumed by a vehicle approaching said second designated known point and a known second vehicle travel direction assumed by a vehicle having said second designated known point.

17. The process as set forth in claim 16, wherein said known direction is the bisector of the angle subtended by the aximuth vectors of said known first and second directions of travel.

18. The process as set forth in claim 17, wherein vehicle coincidence with said second designated known point is detected by comparing said vehicle travel distance within said first given area with a known distance between said first and second designated known points and detecting when the travel distance matches said known distance.

19. The process as set forth in claim 18, wherein vehicle coincidence with said second designated known point is detected by monitoring vehicle position derived from said vehicle travel distance data and vehicle driving direction data and detecting when the vehicle reaches a distal border of said first given area.

20. The process as set forth in claim 19, wherein the position of the vehicle is updated with known position data of said second designated known point each time said travel zone is redefined.

21. A method of finding a connected path, in a feld of points of known positions, between designated start and end points, comprising the steps of storing the points of known position in a memory, and:

(a) tesselating said field into a plurality of blocks;

(b) sectoring said field about said start point;

(c) identifying a target sector in which lies a straightline vector from said start point to said end point;

(d) defining a search area, initially enclosing only the block in which said start point lies;

(e) checking said search area for the presence of at least one of said points of known positions;

(f) if none of said points of known position is found in step (e), expanding said search area to include blocks adjoining blocks already in said search area and lying at least in part within said target sector;

(g) repeating steps (e) and (f) until at least one of said points is found in step (e);

(h) defining the point found in step (a) as said start point;

(i) repeating steps (d) through (g) in the order listed to determine said end point; and

(j) electronically generating said connected path based on the start and end points found in steps (h) and (i).

22. The method of claim 21, wherein the step (h) further comprises the steps of finding which of the points found in step (e) lies closest to said start point, in cases where more than one point is found in step (e).

23. The method of claim 21 wherein said generating step comprises generating a display of at least one search area including therein a display of a position of a vehicle travelling between said start and end points.