Vehicle position uncertainty area correction method and apparatus therefor

• US 5,436,840 A
• Filed: 03/05/1993
• Issued: 07/25/1995
• Est. Priority Date: 03/05/1993
• Status: Expired due to Term

• Current Assignee: CSR Technology Incorporated (Qualcomm, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Harris, Clyde B., Lam, Stella, Kozikaro, Elisha M.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/026,722
• Time in Patent Office: 872 Days
• Field of Search: 364/443, 364/444, 364/449, 364/460, 364/461, 364/436, 364/437, 364/439, 73/178 R, 340/988, 340/990, 340/995, 342/450, 342/451, 342/455, 342/456, 342/457
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

In a preferred embodiment, a vehicle position uncertainty area correction method and a corresponding apparatus are detailed. This method is preferably executed on a hardware platform 400. This method includes provision of an initial position envelope (307) associated with a vehicle position. Then, a corrected position envelope (307"") is derived from the initial position envelope (307) and bounded within a predetermined fixed area (313, 315) surrounding an outermost pair (305, 309) of road segments. The outermost pair (305, 309) of road segments are extracted from a map database (415) positioned within boundaries delimited by the position envelope (307).

Claims

1. A vehicle position uncertainty area correction method comprising the steps of:

providing a map database comprising more than one substantially parallel connected road segment;

receiving position measurements from a positioning system of the vehicle;

providing an initial position envelope that varies in size dependent on the received position measurements;

exacting the more than one substantially parallel connected road segment from the map database dependent on the initial position envelope;

determining an outermost pair of road segments from the extracted more than one substantially parallel connected road segment; and

providing a corrected position envelope, derived from said initial position envelope, said corrected position envelope bounded within a fixed area surrounding the outermost pair of road segments.

2. A method in accordance with claim 1 wherein said outermost pair of road segments comprise road segments that are substantially parallel within a predetermined criteria.

3. A method in accordance with claim 2 wherein said outermost pair of road segments comprise connected road segments.

4. A method in accordance with claim 1 wherein said fixed area corresponds to a map database position uncertainty associated with the map database, wherein said map database position uncertainty is independent of said received position measurements.

5. A method in accordance with claim 4 wherein said predetermined fixed area corresponds to a position uncertainty associated with a road width of at least one of said outermost pair of road segments.

12. A method in accordance with claim 1 1 wherein said step of providing a subset of connected road segments in accordance with the received orientation measurement comprises the step of:

comparing the received a orientation measurement with a heading of each road segment within said set of road segments and providing said subset of connected road segments corresponding to a predetermined heading variance.

6. A vehicle position uncertainty area correction method comprising the steps of:

providing a map database comprising more than one substantially parallel connected road segment;

receiving position and orientation measurements from a positioning system of the vehicle;

providing a position envelope defining a position and an orientation of a vehicle dependent on the received-position and orientation measurements;

providing an outermost pair of substantially parallel connected road segments extracted from the map database, wherein the pair of substantially parallel connected road segments is positioned within boundaries delimited by said position envelope; and

providing a corrected position envelope by aligning outer boundaries of said position envelope in accordance with said outermost pair of connected road segments, and bounding said position envelope within a fixed area positioned surrounding said outermost pair of connected road segments.

7. A method in accordance with claim 6 wherein said step of providing an outermost pair of substantially parallel connected road segments comprises the steps of:

providing a predetermined heading variance criteria; and

providing said outermost pair of substantially parallel connected road segments having headings corresponding within said heading variance criteria.

8. A method in accordance with claim 6 wherein said step of providing a corrected position envelope by aligning comprises a step of centering the outer boundaries of said position envelope to an average heading of said outermost pair of connected road segments.

9. A method in accordance with claim 8 wherein said fixed area corresponds to a map database position uncertainty associated with the map database, wherein said map database position uncertainty is independent of a position of said vehicle and is associated with a road width of at least one of said outermost pair of connected road segments.

10. A vehicle position uncertainty area correction method comprising the steps of:

providing a map database comprising more than one substantially parallel connected road segment;

receiving a position and an orientation measurement from a positioning system of the vehicle;

providing a position envelope in accordance with a position and an orientation of a vehicle dependent on the received position measurement;

providing a set of road segments, extracted from the map database wherein the set of road segments is positioned within boundaries delimited by said position envelope;

providing a subset of connected road segments extracted from said set of road segments in accordance with the received orientation measurement;

determining a center heading vector of an outermost pair of connected road segments within said subset of connected road segments; and

providing a corrected position envelope by bounding said position envelope within a predetermined fixed area surrounding said outermost pair of connected road segments centered on said center heading vector of said outermost pair of road segments.

11. A method in accordance with claim 10 wherein said fixed area corresponds to a position uncertainty associated with the map database, wherein said position uncertainty is independent of said received position and orientation measurements.

13. A method in accordance with claim 11 wherein said subset of connected road segments comprise road segments that are substantially parallel within a predetermined criteria.

14. A vehicle position uncertainty area correction apparatus comprising:

a map database comprising more than one substantially parallel connected mad segment;

means for receiving position measurements from a positioning system of the vehicle;

means for providing an initial position envelope that varies in size dependent on the received position measurements;

means for extracting the more than one substantially parallel connected road segment from the map database dependent on the initial position envelope;

means for determining an outermost pair of road segments from the extracted more than one substantially parallel connected road segment; and

means for providing a corrected position envelope, derived from said initial position envelope, said corrected position envelope bounded within a fixed area surrounding the outermost pair of road segments.

15. An apparatus in accordance with claim 14 wherein said outermost pair of road segments comprise road segments that are substantially parallel within a predetermined criteria.

16. An apparatus in accordance with claim 15 wherein said outermost pair of road segments comprise connected road segments.

17. An apparatus in accordance with claim 16 wherein said fixed area corresponds to a position uncertainty associated with the map database, wherein said position uncertainty is independent of said received position measurements.

18. An apparatus in accordance with claim 17 wherein said predetermined fixed area corresponds to a position uncertainty associated with a road width of at least one of said outermost pair of road segments.

19. A vehicle position uncertainty area correction apparatus comprising:

a map database comprising more than one substantially parallel connected mad segment;

means for receiving position measurements from a positioning system of the vehicle;

means for providing an initial position envelope that varies in size dependent on the received position measurements;

means for extracting the more than one substantially parallel connected road segment from the map database dependent on the initial position envelope;

means for determining an outermost pair of road segments from the extracted more than one substantially parallel connected road segment; and

means for providing a corrected position envelope by aligning outer boundaries of said corrected position envelope in accordance with said more than one substantially parallel connected road segment, and bounding said corrected position envelope within a fixed area positioned surrounding said more than one substantially parallel connected road segment.

20. An apparatus in accordance with claim 19 wherein said means for providing an outermost pair of connected road segments comprises:

means for providing a predetermined heading variance criteria; and

means for providing an outermost pair of connected road segments having headings corresponding within said heading variance criteria.

21. An apparatus in accordance with claim 20 wherein said means for aligning comprises means for centering the outer boundaries of said position envelope.

22. An apparatus in accordance with claim 21 wherein said fixed area corresponds to a position uncertainty associated with the map database, wherein said position uncertainty is independent of said received position measurements, and is associated with a road width of at least one of said outermost pair of connected road segments.

23. An apparatus in accordance with claim 22 wherein said outermost pair of connected road segments comprise road segments that are substantially parallel within a predetermined criteria.