Navigation apparatus and matching method for navigation

• US 4,989,151 A
• Filed: 02/17/1989
• Issued: 01/29/1991
• Est. Priority Date: 02/23/1988
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Original Assignee: Kabushiki Kaisha Toshiba (Toshiba Corporation)
• Inventors: Nuimura, Yoshimi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/311,831
• Time in Patent Office: 711 Days
• Field of Search: 364/443, 364/444, 364/449, 73/178 R, 340/988, 340/990, 340/995
• US Class Current: 701/207
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

A navigation apparatus, which is carried on a vehicle, computes the present positions of the vehicle by using the data collected by various types of sensors, and visually presents the computed present positions on a display. An absolute position data membory stores the surveyed data of the previously surveyed reference points in correspondence with the reference points. A key input device generates a passing signal indicating that the vehicle has actually passed on the the reference points. is response to the operationm of a matching key. When receiving the passing signal, a CPU compares the survey data of the reference points stored in the map data storing means with the present position data calculated by using the data derived from the sensors, selects the surveyed data of a reference point of which surveyed data provides the smallest difference between the reference point and the present position data, and corrects the present position data so that is becomes the selected surveyed data.

Claims

1. A navigation apparatus which is carried on a vehicle, computes present positions of the vehicle, and visually presents the computed present positions, comprising:

map data storing means for storing data of a map to be displayed, said map including at least one reference point, said map data storing means storing surveyed data corresponding to said reference point, the surveyed data being data which indicates a previously determined absolute position of the reference point;

sensor means for sensing at least a speed and moving direction of the vehicle, said sensor means including a speed sensor and a direction sensor;

position calculating means for calculating present position data representing a present position of the vehicle on the basis of the data collected by said sensor means;

display means for displaying a map based on the map data stored in said map data storing means, and for displaying the present position of the vehicle as a mark overlaid on the displayed map, based on the present position data calculated by said calculating means;

key-in means for generating a passing signal indicating that the vehicle has actually passed said reference point, through operation of a predetermined key; and

position correcting means includes first correcting means for, when receiving said passing signal, comparing the surveyed data of a plurality of reference points stored in said map data storing means with the present position data calculated by said position calculating means, selecting the surveyed data of a reference point of which the surveyed data corresponds to the smallest difference between the reference point and the present position data, and correcting said present position data so that it corresponds to said selected surveyed data.

2. The apparatus according to claim 1, further comprising:

present position data storing means for storing the present position data corrected by said position correcting means; and

display controlling means for causing said display means to display the present position of the vehicle based on the present position data stored in said present position data storing means.

3. The apparatus according to claim 1, wherein said first correcting means includes second correcting means for comparing the present position data calculated by said position calculating means with the surveyed data of the reference points being currently displayed by said display means, which are the surveyed data of the respective reference points stored in said map data storing means.

4. The apparatus according to claim 3, wherein

said key-in means includes a designating means for designating desired reference points of those points displayed by said display means;

and

said second correcting means includes third correcting means for comparing the present position data calculated by said position calculating means with the surveyed data of the reference points designated by said designating means, which are the surveyed data of the respective reference points stored in said map data storing means.

5. The apparatus according to claim 4, wherein:

said display means displays a position cursor to indicate the present position on the displayed map; and

said designating means includes a movement designating key for moving said position cursor displayed by said display means and a reference point on the map on which said position cursor overlays, as one of the desired reference points.

6. The apparatus according to claim 5, further comprising:

read means for reading out the surveyed data of the desired reference points designated by said reference point designating key from said map data storing means; and

desired reference position storing means for storing the surveyed data read out by said read means, and wherein

said third correcting means includes fourth correcting means for comparing the present position data calculated by said position calculating means with the surveyed data of the respective reference points stored in said desired reference position storing means.

7. In a navigation apparatus which is carried on a vehicle, computes a present position of the vehicle, and visually presents the computed present position, comprising:

map data storing means for storing data of a map to be displayed, said map including at least one reference point, said map data storing means storing the surveyed data corresponding to said reference point, the surveyed data being data which indicates a previously surveyed absolute position of the reference point;

sensor means for sensing at least the speed and moving direction of the vehicle, said sensor means including a speed sensor and a direction sensor;

position calculating means for calculating present position data representing the present position of the vehicle on the basis of the data collected by said sensor means;

display means for displaying a map based on the map data stored in said map data storing means, and said mark overlaid on the displayed map, based on the present position data calculated by said position calculating means, a method for matching the present position data calculated by said position calculating means with said surveyed data, comprising;

a first step of generating a passing signal indicating that the vehicle has actually passed said reference point, through the operation of a predetermined key of a key-in means which is operated when said vehicle actually passes said reference point;

a second step of comparing the surveyed data of each of a plurality of reference points stored in said map data storing means with the present position data calculated by said position calculating means, when said pressing signal is generated, to obtain differences between each of said reference points and said present position data;

a third step of selecting the surveyed data of one of said reference points of which the surveyed data corresponds to the smallest one of said differences, and a fourth step of correcting said present position data so that it corresponds to said selected surveyed data.

8. The method according to claim 7, further comprising:

a fifth step of storing the present position data as corrected in said fourth step; and

a sixth step of displaying the present position of the vehicle based on the present position data stored in said fifth step.

9. The method according to claim 7, wherein said second step includes a fifth step of comparing the present position data calculated by said position calculating means with the surveyed data of the reference points being currently displayed by said display means, which are the surveyed data of the respective reference points stored in said map data storing means, thereby obtaining the differences between them.

10. The method according to claim 9, further comprising a sixth step of designating desired reference points of those points displayed by said display means, and wherein

said fifth step includes a seventh step of comparing the present position data calculated by said position calculating means with the surveyed data of the reference points designated in said sixth step, which are the surveyed data of the respective reference points stored in said map data storing means.

11. The method according to claim 10

further including an eighth step of displaying a position cursor to indicate the present position on the displayed map displayed by said display means, on the basis of said present position data, and

said sixth step includes a ninth step of moving said position cursor toward a desired reference position on the displayed map, and a tenth step of designating a reference point on the map on which said position cursor overlays, as one of the desired reference points.

12. The method according to claim 11, further comprising:

a 11th step of reading out the surveyed data of the desired reference points designated in said tenth step; and

a 12th step of storing the surveyed data read out in said 11th step, and wherein

said seventh step includes a 13th step of comparing the present position data calculated by said position calculating means with the surveyed data of the respective reference points stored in said 12th step, thereby obtaining the differences between them.