Route guidance on/off-route state filter

• US 5,359,529 A
• Filed: 05/15/1992
• Issued: 10/25/1994
• Est. Priority Date: 05/15/1992
• Status: Expired due to Term

• Current Assignee: TomTom International BV (TomTom NV)
• Original Assignee: Zexel Corporation
• Inventors: Snider, Peter
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): PARK, COLLIN
• Application Number:
  US07/884,749
• Time in Patent Office: 893 Days
• Field of Search: 364/443, 364/444, 364/445, 364/446, 364/447, 364/448, 364/449, 364/450, 364/453, 364/454, 364/424.02, 340/988, 340/989, 340/990, 340/995, 342/450, 342/451, 342/457, 73/178 R
• US Class Current: 701/210
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

The invention provides a route state filter for a vehicle route guidance system for improved tracking of vehicle position with respect to a preselected route. A set of position possibilities are derived by comparing a measured vehicle position to a database containing data representing a map of roads, the possibilities corresponding to possible positions on the roads within an error region around the measured position. A route guidance module receives the position possibilities, checks their validity and applies a filter to remove less likely possibilities. A current position is then selected from the remaining possibilities. An ON/OFF ROUTE status of the vehicle is determined by comparing the selected position with the selected route information in the database. A distance-based filter is utilized to provide improved continuity in the route status determination. The route status is then used to set the system operating mode, and instructional information such as maneuvers, distances, and warnings are communicated to the driver.

Claims

1. A method for determining whether a vehicle is following a predetermined route on a map of roadways, said route comprising a selected portion of said roadways, the method comprising the steps of:

receiving a set of position possibilities corresponding to possible positions of said vehicle on said roadways of said map;

verifying that the set of position possibilities are valid possibilities;

filtering the set of position possibilities to remove those least likely to correspond to actual position of the vehicle;

comparing the position possibilities with a set of positions on the route;

classifying each position possibility by route state, the route state being selected from the group consisting of ON ROUTE and OFF ROUTE, ON ROUTE being position possibilities corresponding to positions on the route, and OFF ROUTE being position possibilities corresponding to positions not on the route;

calculating the distance from a known location on said map to each ON ROUTE position possibility;

selecting a current position, the current position being the ON ROUTE position possibility furthest along the route toward the destination; and

determining a route status of the vehicle based on said current position.

2. The method according to claim 1 wherein said step of verifying comprises determining whether said position possibilities are within a selected range of values.

3. The method according to claim 1 wherein said step of filtering comprises:

eliminating position possibilities with a heading outside of an expected heading range, the expected heading range including the heading of the roadway on which the position possibility is located plus an angular error region; and

eliminating all position possibilities on the same roadway except the position possibility closest to a dead-reckoned position.

4. The method according to claim 1 further comprising, where no ON ROUTE position possibilities exist, selecting as said current position the OFF ROUTE position possibility most likely to correspond with vehicle position according to criteria selected from the group consisting of proximity to the dead-reckoned position and correspondence of heading at said position possibility with heading of the roadway on which a dead-reckoned position lies.

5. The method according to claim 4 further comprising assigning the route state of the current position to an OFF ROAD state if no current position has been selected, said OFF ROAD state indicating that no position possibilities corresponding to roadways on said map were received.

6. The method according to claim 4 wherein the step of determining a route status of said vehicle comprises:

comparing the route state of the current position with a stored distance-based route state;

increasing a stored distance filter value where the route state of the current position is different than the stored distance-based route state;

decreasing the stored distance filter value where the route state of the current position is the same as the stored distance-based route state;

comparing the stored distance filter value to a pre-defined threshold value after said increasing or decreasing;

setting the stored distance-based route state to the route state of the current position if the stored distance filter value exceeds the threshold value; and

assigning the route status the value of the stored distance-based route state.

7. The method according to claim 1 further comprising the step of determining whether a maneuver of the vehicle is required, the maneuver being selected from the group consisting of left turn, right turn, U-turn, hard left, hard right, easy left, easy right, and combinations thereof.

8. The method according to claim 7 further comprising communicating the required maneuver to a user.

9. The method according to claim 1 further comprising comparing the current position to an intended destination to determine whether arrival has occurred.

10. The method according to claim 1 further comprising communicating the route status to a user.

11. The method according to claim 1 further comprising:

reading a heading sensor and a distance sensor;

calculating a dead-reckoned position using heading and distance readings;

comparing said dead-reckoned position to said map of roadways; and

deriving said position possibilities, wherein said position possibilities comprise positions on said roadways within an error region having said dead-reckoned position as its center.

12. A route guidance module in a vehicle navigation system for determining whether a vehicle is following a predetermined route on a map of roadways, said route comprising a selected portion of said roadways, said navigation system calculating a dead-reckoned position of said vehicle and further generating a set of position possibilities of said vehicle on said roadways, said route guidance module comprising:

means for receiving said set of position possibilities;

means for verifying that each of said position possibilities is a valid possibility;

means for filtering the set of position possibilities to remove those least likely to correspond to actual position of the vehicle;

means for comparing the position possibilities to positions on said route;

means for classifying each position possibility by route state, the route state being selected from the group consisting of ON ROUTE and OFF ROUTE, ON ROUTE being position possibilities corresponding to positions on the route, and OFF ROUTE being position possibilities corresponding to positions not on the route;

means for calculating the distance from a first location on said route to each ON ROUTE position possibility;

means for selecting a current position, the current position being the ON ROUTE position possibility furthest along the route toward the destination; and

means for determining a route status of the vehicle based on said current position.

13. The route guidance module according to claim 12 wherein said means for verifying comprises means for determining whether said position possibilities are within a selected range of values.

14. The route guidance module according to claim 12 wherein said means for filtering comprises:

means for eliminating position possibilities with a heading outside of an expected heading range, the expected heading range including the heading of the roadway on which the position possibility is located plus an angular error region; and

means for eliminating all position possibilities on the same roadway except the position possibility closest to a dead-reckoned position.

15. The route guidance module according to claim 12 further comprising, where no ON ROUTE position possibilities exist, means for selecting as said current position the OFF ROUTE position possibility most likely to correspond with vehicle position according to criteria selected from the group consisting of proximity to the dead-reckoned position and correspondence of heading at said position possibility with heading of the roadway on which a dead-reckoned position lies.

16. The route guidance module according to claim 15 further comprising means for assigning the route state of the current position to an OFF ROAD state where no current position has been selected, said OFF ROAD state indicating that no position possibilities corresponding to roadways on said map were received.

17. The route guidance module according to claim 15 wherein said means for determining a route status of said vehicle comprises:

means for comparing the route state of the current position with a stored distance-based route state;

means for increasing a stored distance filter value where the route state of the current position is different than the stored distance-based route state;

means for decreasing the stored distance filter value where the route state of the current position is the same as the stored distance-based route state;

means for comparing the stored distance filter value to a pre-defined threshold value after said increasing or decreasing;

means for setting the stored distance-based route state to the route state of the current position if the stored distance filter value exceeds the threshold value; and

means for assigning the route status the value of the stored distance-based route state.

18. The route guidance module according to claim 12 further comprising means for determining whether a maneuver of the vehicle is required, the maneuver being selected from the group consisting of left turn, right turn, U-turn, hard left, hard right, easy left, easy right, and combinations thereof.

19. The route guidance module according to claim 18 further comprising means for communicating the required maneuver to a driver of said vehicle.

20. The route guidance module according to claim 12 further comprising means for comparing the current position to an intended destination to determine whether arrival has occurred.

21. The route guidance module according to claim 12 further comprising means for communicating the route status to a driver of said vehicle.

22. The route guidance module according to claim 12 wherein said navigation system includes means for switching between at least a first ON ROUTE mode and a second OFF ROUTE mode according to said route status, the route guidance module further comprising means for communicating said route status to said switching means.

23. The route guidance module according to claim 12 wherein said navigation system comprises:

means for reading a heading sensor and a distance sensor;

means for calculating said dead-reckoned position using heading and distance readings;

means for comparing said dead-reckoned position to said map of roadways; and

means for deriving said position possibilities, wherein said position possibilities comprise positions on said roadways within an error region having said dead-reckoned position as its center.