Vehicle navigation system

• US 4,878,170 A
• Filed: 03/17/1988
• Issued: 10/31/1989
• Est. Priority Date: 03/17/1987
• Status: Expired due to Term

• Current Assignee: Eliahu I. Zeevi
• Original Assignee: Eliahu I. Zeevi
• Inventors: Zeevi, Eliahu I.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/169,645
• Time in Patent Office: 593 Days
• Field of Search: 364/424.01, 364/443, 364/444, 364/449, 340/988, 340/990, 340/995, 73/178 R
• US Class Current: 701/211
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A vehicle navigation system is provided wherein a preselected route is established in terms of a sequence data and processing means computes sequence action data based on lineal distances between landmarks, such as junctions, and movement detecting means, such as a turn detection, for detecting movement only around an approached landmark in order to synchronize position with the landmark. In accordance with the invention, it is unnecessary to store all geographic data about a region to be traversed during a journey and further computation can be extremely efficient without reliance at any time on detection of direction with respect to magnetic north or other fixed, remote reference. All needed information is incorporated into data related only to distance travelled by the vehicle between landmarks and movement around (e.g., turns) an approached landmark. The system works on the assumption that the vehicle moves in one dimension between predetermined landmarks so that route information can be reduced to a sequence of indicators. The movements around landmarks, or more specifically junction or turns where deviations are expected from a straight line constant velocity path are used to synchronize vehicle location relative to the landmark. The accuracy of map distance between landmarks is assumed within an acceptable error so that synchronization can be obtained within a window distance during which the system seeks synchronization.

Claims

1. A vehicle navigation system comprising:

means for storing map data representing a road network, said data comprising information about landmarks, said information comprising landmark identifiers, landmark location and landmark characteristics of said landmarks in said road network, map distances between said landmarks, and path characteristics between adjacent landmarks;

means for receiving start location data indicating vehicle start location;

means for receiving destination data indicating a desired destination;

means coupled to said map data storing means for establishing a route comprising sequence data, said sequence data indicating a sequence of landmark identifiers;

first processing means coupled to said route establishing means for receiving said sequence data and for computing sequence action data, said sequence action data comprising computed lineal distances between landmarks and status data related to an approached landmark;

distance measuring means for measuring distance travelled by said vehicle to provide measured distance data;

means for detecting vehicle movement in a distance window only around said approached landmark to provide movement data indicative of change in motion of said vehicle;

second processing means coupled at least to said first processing means, to said distance measuring means, and to said vehicle movement detecting means for receiving said movement data, said distance data and said sequence action data, for supplying output data indicative of current location or expected actions in sequence for aiding a driver of the vehicle to adhere to the route; and

output means for supplying the output data in a form discernible by the driver.

2. A system according to claim 1 wherein said second processing means is operable to synchronize said sequence action data with actual vehicle location based on said vehicle movement data in said distance window around said approached landmark.

3. A system according to claim 1 wherein said output means provides at least one of a visual display and an audible spoken output.

4. A system according to claim 1 wherein said map data storing means further includes means for receiving a non-volatile memory device storing data representing a street map.

5. A system according to claim 4 wherein the non-volatile memory device is a plug-in unit.

6. A system according to claim 1 wherein said distance measuring means comprises a transducer device for providing an electrical signal representing vehicle wheel revolution.

7. A system according to claim 1 wherein said movement detecting means comprises a transducer device for providing an electrical signal representing angular position of a steering wheel of the vehicle.

8. A system according to claim 1 wherein said first processing means and said second processing means comprise a plurality of program sequences for a microprocessor unit and a read only memory storing said programming sequences for said microprocessor unit.

9. A system according to claim 1 wherein said movement detecting means is for indicating a change in direction of travel relative to current direction of travel toward said approached landmark.

10. A system according to claim 9 wherein said movement detecting means includes an angle sensor for sensing angle of steering relative to a tangent to direction of travel of said vehicle.

11. A system according to claim 10 wherein said movement detecting means further includes a momentary speed detection means for detecting instantaneous speed of said vehicle.

12. A system according to claim 11 wherein said momentary speed detection means is for measuring speed of the vehicle within a distance around said approached landmark, and wherein said second processing means employs outputs of said angle sensor and of said momentary speed detection means to compute degree of change of orientation.

13. A system according to claim 1 further including computing means coupled to said first processing means for establishing size of said distance window at least as a function of computed distance to said approached landmark in order to improve resolution of movement around said approached landmark.

14. A system according to claim 1, wherein said route establishing means comprises third processing means coupled to said data storing means, to said start location receiving means and to said destination data receiving means for computing a route through said road network prior to a journey, said route comprising sequence data indicating a sequence of said identifiers of landmarks.

15. A system according to claim 2 wherein said movement detecting means is for indicating a change in direction of travel relative to current direction of travel toward said approached landmark.

16. A vehicle navigation system according to claim 1 wherein said second processing means further includes means for comparing expected movement data with actual movement data to generate run error data for aiding the driver of the vehicle to adhere to the route.

17. A vehicle navigation system according to claim 1 wherein said start location receiving means includes means for receiving an indication of vehicle location relative to magnetic North.

18. A vehicle navigation system comprising:

means for storing distance data between landmarks;

distance measuring means for measuring distance travelled by said vehicle from a know location to provide distance data;

window enable means for defining a distance window around an approached landmark to provide window data indicative of vehicle location relative to said approached landmark;

means for detecting vehicle movement only in a distance window around said approached landmark to obtain movement data indicative of change in motion of said vehicle; and

processing means coupled to said distance measuring means, to said window enable means and to said vehicle movement detecting means for receiving from said vehicle movement detecting means said movement data, and from said window enable means said window data for synchronizing said stored distance data with actual vehicle location based on said vehicle movement data in said distance window around said approached landmark.

19. A system according to claim 18 wherein said movement detecting means is for indicating a change in direction of travel relative to direction of travel toward said approached landmark.

20. A system according to claim 19 wherein said movement detecting means includes an angle sensor for sensing angle of steering relative to a tangent to direction of travel of said vehicle.

21. A system according to claim 20 wherein said movement detecting means further includes a momentary speed detection means for detecting instantaneous speed of said vehicle.

22. A system according to claim 21 wherein said momentary speed detection means is for measuring speed of the vehicle only in a distance window around said approached landmark, and wherein said processing means employs output of said angle sensor and of said momentary speed detection means to compute degree of change of orientation.

23. A system according to claim 18 further including computing means coupled to said window enable means for establishing size of said distance window as a function of at least computed distance to said approached landmark in order to improve resolution of movement around said approached landmark.

24. A vehicle navigation system according to claim 18 further including means for automatically scaling between two preselected landmarks, said scaling means comprising:

means for comparing a value representative of said stored distance with a value representative of said measured distance between said two preselected landmarks to obtain a scaling factor; and

means for storing said scaling factor.

25. A vehicle navigation system according to claim 24 wherein said measured distance is directly proportional to the number of wheel revolutions of a vehicle axle.

26. A method for navigating a vehicle comprising:

storing map data representing a road network, said map data comprising information about landmarks, said information comprising landmark identifiers, landmark location and landmark characteristics of said landmarks in said road network, map distances between said landmarks and path characteristics between adjacent landmarks;

receiving start location data indicating vehicle start location;

receiving destination data indicating a desired destination;

establishing a route comprising sequence data indicating a sequence of landmark identifiers;

computing sequence action data from said sequence data, said sequence action data comprising computed lineal distances between landmarks and status data related to an approached landmark;

measuring distance travelled by said vehicle to provide measured distance data;

detecting vehicle movement in a distance window only around said approached landmark to provide movement data indicative of change in motion of said vehicle;

comparing said movement data with said status data of said sequence action data and said measuring distance data with said computed lineal distances of said sequence action data and supplying output data indicative of expected actions in sequence for aiding a driver of the vehicle to adhere to the route; and

supplying the output data in a form discernible by the driver.

27. A navigation system for a vehicle comprising means for receiving data indicating an actual vehicle location;

means for storing data representing a road network;

means for measuring distance travelled by said vehicle;

turn detecting means for detecting a turn by the vehicle and providing a turn signal in response thereto;

means for receiving destination data indicating a desired destination;

computing means for computing a route through said road network from the actual vehicle location to the desired destination;

processing means for receiving data from the distance measuring means, for computing the actual vehicle location therefrom and for preparing instruction data for aiding a driver of the vehicle to adhere to said route;

output means for supplying the instruction data in a form discernible by the driver;

window enable means for defining a distance window in which a significant turn will be made by the vehicle when following said route; and

synchronizing means operative to synchronize the computed route with actual vehicle location based on said turn detecting means producing a signal indicating a significant turn within said distance window.

28. A system according to claim 27 wherein the turn detecting means is operative to provide data representing an angle through which the vehicle has turned.

29. A system according to claim 27 wherein the output means provides at least one of a visual display and an audible spoken output.

30. A system according to claim 27 further including means for receiving a non-volatile memory device storing data representing a street map.

31. A system according to claim 30 wherein the memory device is a plug-in-unit.

32. A system according to claim 27 further comprising a compass located externally of the vehicle and operative to provide an electrical output representing the vehicle orientation before a journey begins.

33. A system according to claim 27 wherein said means for measuring distance comprises a transducer device arranged to provide an electrical signal representing vehicle wheel revolutions.

34. A system according to claim 33 wherein on detection of said turn signal within any distance window said processing means is operative to calibrate the scale factor relating distance travelled to the number of wheel revolutions.

35. A system according to claim 27 wherein said turn detecting means comprises a transducer device operative to provide an electrical signal representing angular position of a steering wheel of the vehicle.

36. A system according to claim 27 wherein said processing means comprises a microprocessor unit and a read only memory storing a program for said microprocessor unit.