Apparatus for navigating vehicle

• US 5,046,011 A
• Filed: 06/30/1989
• Issued: 09/03/1991
• Est. Priority Date: 07/05/1988
• Status: Expired due to Term

• Current Assignee: Mazda Motor Corporation
• Original Assignee: Mazda Motor Corporation
• Inventors: Sasaki, Masao, Kakihara, Masaki
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/374,262
• Time in Patent Office: 795 Days
• Field of Search: 364/449, 364/450, 364/447, 364/443, 340/990, 340/995
• US Class Current: 701/209
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

Disclosed is a navigation apparatus for showing a driver the current position of his vehicle by estimating the vehicle position on the basis of the travel direction and travel distance thereof and matching the current vehicle position thus estimated to map information stored previously. The apparatus disclosed is capable of navigating a vehicle with accuracy even if it is traveling on a road which is not stored in memory; in that case, the apparatus repeats comparison of the vehicle travel direction with the directions in which lie the current vehicle position and respective nodes stored in memory, and accumulates the comparison results so as to infer the arrival of the vehicle at its destination which corresponds to one of the nodes stored in memory.

Claims

1. An apparatus for navigating vehicle comprising:

a conjecture means for conjecturing the current position of a vehicle by a dead-reckoning method on the basis of the vehicle travel direction and the vehicle travel distance;

a node storage means for storing road information in the form of the positions of a plurality of nodes provided on the roads concerned,

a non-memory road judging means for making a judgment as to whether or not the road on which the vehicle is running is one which is stored in said storage means, and

a target node specifying means for specifying, when the vehicle is judged by said non-memory road judging means to be traveling on a road which is not stored in said node storage means, a target node toward which the vehicle is running, comprising;

a first candidate node extracting means for extracting candidate nodes from said plurality of nodes stored in said node storage means;

a determining means for determining if the candidate nodes cannot be the target node by comparing the respective directions between a conjectured current position of the vehicle and these candidate nodes with the direction in which the vehicle is running; and

a first deleting means for deleting a candidate node which is determined not able to be the target node from the candidate nodes.

2. An apparatus for navigating vehicle according to claim 1, wherein said node storage means further stores the connective relationship between the nodes, and wherein

said non-memory road judging means includes:

a second candidate node extracting means for extracting from said node storage means a plurality of nodes connected to a start node as target candidate nodes,

a second node deleting means for identifying from among these candidate nodes those nodes which cannot be the target node by comparing the directions of the respective connections between the current vehicle position and these candidate nodes with the direction in which the vehicle is traveling and for deleting the nodes thus identified from the candidate nodes, and

a determining means for judging the vehicle to be running on a non-memory road when the number of candidate nodes has been reduced to zero.

3. An apparatus for navigating vehicle according to claim 1, wherein said node storage means further stores the connective relationship between the nodes, and wherein

said first extracting means includes:

a search area setting means for setting a search area corresponding to the travel distance covered by the vehicle from the time when the vehicle is judged to be running on a non-memory road to the present; and

extracts said candidate nodes from a plurality of nodes existing within this search area.

6. An apparatus for navigating vehicle according to claim 3, wherein said second node deleting means employs a threshold comparison means including a weighting function, the magnitude of which is related to the angle difference between the present vehicle course and the angular direction to the candidate node and the type of road upon which the vehicle is traveling.

7. An apparatus for navigating a vehicle according to claim 6, wherein the magnitude of said weighting function decreases as the quality of the road upon which the vehicle is traveling improves to enable more candidate nodes to be considered when traveling on higher quality roads and less to be considered when traveling on lesser quality roads.

8. An apparatus for navigating vehicle according to claim 1, wherein said search area consists of a circle having a radius which is in proportion to the total travel distance covered by the vehicle from the time when the vehicle is judged to be running on a non-memory road to the present.

9. An apparatus for navigating vehicle according to claim 8, wherein the radius of said circle corresponds to a value obtained by multiplying by a constant which is one or less the travel distance covered by the vehicle from the time at which the vehicle is judged to be running on a non-memory road to the present.

10. An apparatus for navigating vehicle according to claim 8, wherein an upper and a lower limit are established to the radius of said circle.

11. An apparatus for navigating vehicle according to claim 1, wherein the apparatus is further equipped with a means for judging the vehicle to have returned to a memory road whenever a node is specified by said target node specifying means.

12. An apparatus for navigating vehicle according to claim 1, wherein the apparatus further comprises:

a third extracting means for further extracting a plurality of candidate nodes from among the nodes stored in the storage means, when the number of the candidate nodes is zero while the target node has not been specified.

13. An apparatus for navigating vehicle according to claim 1, wherein said target node specifying means has a map-matching means for map-matching the current vehicle position with a specified node.

14. An apparatus for navigating vehicle according to claim 13, wherein said map-matching means performs map matching when the distance between a node specified by said target node specifying means and the current vehicle position is not larger than a second predetermined value.

4. An apparatus for navigating vehicle comprising:

a conjecture means for conjecturing the current position of a vehicle by a dead-reckoning method on the basis of the vehicle travel direction and the vehicle travel distance;

a node storage means for storing road information in the form of the positions of a plurality of nodes provided on the roads concerned;

a non-memory road judging means for making a judgment as to whether or not the road on which the vehicle is running is one which is stored in said storage means; and

a target node specifying means for specifying, when the vehicle is judged by said non-memory road judging means to be traveling on a road which is not stored in said node storage means, a target node toward which the vehicle is running, comprising;

a candidate node extracting means for extracting candidate nodes from said plurality of nodes stored in said node storage means;

an average travel direction storage means for storing the average travel direction value for each of the respective travel distance units covered, and

an angle difference calculating means for calculating, when the vehicle is judged by said non-memory road judging means to be running on a non-memory road, the average value, for each of the candidate nodes, of the angle difference between the data on the directions of the respective connections between the current vehicle position and the candidate nodes and the data on a plurality of stored average travel direction values for the respective travel distance units; and

a deleting means for deleting those nodes which involve an angle difference exceeding a first predetermined value from the candidate nodes.

5. An apparatus for navigating vehicle according to claim 4, wherein said target node specifying means includes:

a control means for operating said search area specifying means and said second candidate node extracting means for each vehicle travel over a predetermined distance;

the calculation of the average of the angle differences of any new candidate nodes detected by said second candidate node extracting means when a new search area is set by said search area specifying means being performed by said angle distance calculating means using the average travel direction data which is stored after these new candidate nodes are detected.