Method of and apparatus for determining a position of a land vehicle

• US 5,023,798 A
• Filed: 12/26/1989
• Issued: 06/11/1991
• Est. Priority Date: 06/06/1987
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Neukirchner, Ernst-Peter, Schlogl, Dietmar
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/457,760
• Time in Patent Office: 532 Days
• Field of Search: 364/449, 364/453, 364/454, 364/447, 340/990, 340/995
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G08G 1/137 the indicator being in the form of a map

Abstract

In a method of and an apparatus for determining the position of a land vehicle by detecting and evaluating driving data and subsequent correction of the position calculated from the driving data by matching with data of a stored, digitized road network, the determination of the position is carried out in a very reliable manner. By dividing the digital road network into meshes defined according to surface area by covering it with a grid. The meshes in which the instantaneous position of the vehicle is located, are selected one after the other proceeding from a starting position, and the position calculated from the driving data is corrected at predetermined intervals to the possible and most probable position through the road network in the respective selected mesh and its proximate surrounding area.

Claims

1. A method of determining a position of a land vehicle, comprising the steps of dividing a digital road network in a plurality of meshes in a grid-like manner with each mesh containing a predetermined number of street sections that should not be exceeded;

determining and evaluating driving data and calculating a position of the vehicle in accordance with the driving data; and

correcting the calculated position of the vehicle by comparing the calculated position with possible positions of the digital road network wherein only street sections contained at least in a mesh in which the calculated position is located, are considered.

2. A method according to claim 1, wherein the comparing includes considering street sections contained at least in one of meshes that surround the mesh in which the calculated position is located.

3. A method according to claim 1, wherein the comparing includes weighting of each considered street section.

4. A method according to claim 3, wherein the weighting is determined by at least one of a proximity of the calculated position to each considered street section, comparison of street angles, and agreement of a street course with a driving direction of the vehicle.

5. A method according to claim 3, wherein the weighting is effected in regular intervals and weighting results are added.

6. A method according to claim 3, wherein said correcting step includes correcting the calculated position of the vehicle in accordance with a street section having a highest weighting value.

7. A method according to claim 3, wherein said correcting step includes correcting the calculated position in accordance with a respective street section only when weighting value of the respective street section exceeds a predetermined value.

8. A method according to claim 1, wherein a size of a mesh is determined in accordance with a number of streets.

9. A method according to claim 1, wherein a size of a mesh is determined in accordance with street density.

10. An apparatus for determining a position of a land vehicle, comprising a driving data sensor;

a first memory for storing a digital road network;

computer means for evaluating the driving data and subsequent correction of a position calculated from the driving data by matching with data of the stored digital road network; and

a second memory for storing a mesh grid of the digital road network and containing, for each mesh of the grid, a list of number of streets of the digital road network and including all streets which lie at least partially in a respective mesh.

11. An apparatus according to claim 10, wherein the list of number of streets includes all streets that completely lie in a respective mesh.

12. An apparatus according to claim 10, wherein said driving data sensor comprises a sensor for sensing distance and direction data.

13. An apparatus according to claim 12, wherein said driving data sensor comprises a compass for detecting direction data.

14. An apparatus according to claim 10, further comprising a third memory for storing weighting data.

15. An apparatus according to claim 10, further comprising a working memory connected with said computer means and said first memory for storing street sections of a mesh in which the calculated position of the vehicle is located, and street sections of meshes which border the mesh in which the calculated position is located.