Method for identifying current position of vehicle

• US 4,924,402 A
• Filed: 07/02/1987
• Issued: 05/08/1990
• Est. Priority Date: 07/02/1986
• Status: Expired due to Term

• Current Assignee: Pioneer Electronics (USA) Incorporated (Pioneer Corporation)
• Original Assignee: Pioneer Electronics (USA) Incorporated (Pioneer Corporation)
• Inventors: Ando, Hitoshi, Hosoi, Masayuki, Fukushima, Atsuhiko, Kashiwazaki, Takashi
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/069,085
• Time in Patent Office: 1,041 Days
• Field of Search: 364/424, 364/443, 364/449, 364/447, 364/448, 364/457, 340/990, 340/995
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A momentarily changing position of a travelling vehicle is correctly identified by a vehicular nagivation system on which a magnetism sensor, angular velocity sensor, travel distance sensor and global positioning system are mounted. The current position of the vehicle is identified by, for example, storing data of a road on a map in the form of numerical values, measuring a predetermined distance which the vehicle has travelled and computing the current position on the road based upon the predetermined distance thus measured.

Claims

1. A method for identifying the current position of a vehicle on a road map, comprising the steps of:

storing data on the positions of roads and intersections on a road map as map data in the form of numerical values;

detecting a traveling of a predetermined distance by the vehicle and a current azimuth of the vehicle to thereby obtain a measured portion on said road map;

calculating the distance between said measured position and the point on a road proximate to said measured position on said road map;

comparing said distance with a predetermined threshold value to judge whether or not said distance is less than said predetermined threshold value;

identifying said point as a current position on said road map when said distance is less than said predetermined threshold value;

judging whether or not the vehicle has curved when said distance is not less than said predetermined threshold value; and

carrying out an intersection loading to coincide said measured position of the vehicle with the intersection proximate to said measured position when it is judged that the vehicle has curved.

2. A method as claimed in claim 1, wherein said judging step comprises the steps of:

computing a radius of curvature of the path of the vehicle and a speed of the vehicle when the vehicle travels a predetermined distance; and

determining the vehicle has curved if the computed radius of curvature is larger than a predetermined value and the computed speed of the vehicle is lower than a predetermined speed value.

3. A method as claimed in claim 1, wherein said intersection loading comprises the steps of:

calculating a distance from the point identified as the previous intersection and to said measured position multiplying said distance by a fixed value to obtain an intersection detecting threshold value;

calculating each distance from said measured position to a position of each intersection in said map data;

comparing the distance between said measured position and the position of said intersection with said intersection detecting threshold value; and

identifying the position of said intersection as a current position when said distance is less than said intersection detecting threshold value.

5. A method as claimed in claim 1, said method further comprising the step of:

storing a predetermined number of error data of the detected traveling distance of the vehicle, each error data corresponding to the distance between the measured position and the position of the road proximate thereto obtained each time the traveling of the predetermined distance by the vehicle is detected;

calculating the difference between error data of the presently-detected traveling distance and the previously-detected traveling distance to obtain a quantity variation;

calculating the mean value of the quantity variations obtained for said predetermined number of error data and calculating the deviation thereof; and

comparing said deviation with a second predetermined threshold value and updating said distance correcting coefficient and said azimuth correcting coefficient if said deviation is less than said second predetermined threshold value.

4. A method for identifying the current position of a vehicle on a road map, comprising the steps of:

storing data on the positions of roads traveling distances, azimuths, and intersections on a road map as map data in the form of numerical values;

detecting a traveling of a predetermined distance by the vehicle and a current azimuth of the vehicle to thereby obtain a measured portion on said road map;

calculating the distance between said measured position and the point on a road proximate to said measured position on said road map;

comparing said distance with a first predetermined threshold value to judge whether or not said distance is less than said predetermined threshold value;

identifying said point as a current position on said road map when said distance is less than said first predetermined threshold value;

obtaining a distance correcting coefficient for correcting an error of the detected traveling distance of the vehicle and an azimuth correcting coefficient for converting the detected current azimuth into the corresponding azimuth in said road map; and

comparing the detected traveling distance of the vehicle from a previously-identified intersection and the detected current azimuth with the corresponding traveling distance and azimuth in said map data each time an intersection is detected or the vehicle travels at a predetermined distance to thereby update said distance correcting coefficient and said azimuth correcting coefficient.