Map-matching navigation system

• US 5,774,824 A
• Filed: 08/24/1995
• Issued: 06/30/1998
• Est. Priority Date: 08/24/1995
• Status: Expired due to Fees

• Current Assignee: Penn State Research Foundation (Pennsylvania State University)
• Original Assignee: Penn State Research Foundation (Pennsylvania State University)
• Inventors: Lu, Min, Pusateri, Michael A., Gilmore, Brian J., Streit, Donald A.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/518,639
• Time in Patent Office: 1,041 Days
• Field of Search: 364/444.1, 364/444.2, 364/447, 364/449.1, 364/449.3, 364/449.6, 364/450, 364/449.4, 340/990, 340/995, 340/988, 701/201, 701/202, 701/205, 701/207, 701/209, 701/212, 701/217, 701/210
• US Class Current: 701/207
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G09B 29/106 using electronic means

Abstract

A map matching navigation system for monitoring vehicle state characteristics including the location of a vehicle on a map route. The map matching navigation system may operate in a fixed mode wherein the map route is inputted by a user or a flexible mode wherein the map matching navigation system determines the map route from a plurality of measured points which correspond to the location of the vehicle. The map matching navigation system additionally updates the location of the vehicle at a plurality of positions on the map route wherein the vehicle location is known with an increased level of confidence.

Claims

1. A map matching navigation system to determine a location of a vehicle on a map route, comprising:

a. a sensor to measure at least one vehicle state characteristic;

b. a navigator coupled with said sensor to determine a measured point of the vehicle based upon the at least one vehicle state characteristic;

c. a map database including a plurality of links and a plurality of nodes to define the map route;

d. a correlator coupled with said navigator and said map database to determine a matched point of the vehicle on the map route which corresponds to the measured point; and

e. an analyzer coupled with said correlator to detect an end of a curve in the map route and updating the measured point and the matched point to the end of the curve.

2. The map matching navigation system of claim 1 further comprising an user interface coupled with said analyzer to convey the map route and the matched point to an user.

3. The map matching navigation system of claim 1 further comprising a computer readable memory to store a predetermined map route.

4. The map matching navigation system of claim 1 wherein said analyzer updates the measured point and the matched point to a node at the end of the curve.

5. The map matching navigation system of claim 4 wherein said navigator, said correlator, and said analyzer are implemented in a central processor.

6. The map matching navigation system of claim 1 further comprising a map route processor coupled with said correlator and said map database and said analyzer, and said map route processor computes at least one statistical parameter from a deviation distance between the measured point and the matched point to determine the map route from the measured point.

7. The map matching navigation system of claim 6 wherein the analyzer updates the measured point and the matched point to a node at the end of the curve.

8. The map matching navigation system of claim 7 further comprising an user interface coupled with said analyzer to convey the map route and the matched point to an user.

9. The map matching navigation system of claim 8 wherein said map route processor computes at least one statistical parameter from the measured point and the matched point to determine the map route.

10. The map matching navigation system of claim 1 wherein the matched point is the most probable point on the map route which corresponds to the measured point.

11. The map matching navigation system of claim 1 wherein said sensor determines a travelling distance and a travelling direction of the vehicle.

12. The map matching navigation system of claim 1 further comprising at least one of a plurality of tags and a global position system to initialize the location of the vehicle.

13. A method of locating a vehicle on a map route, comprising:

a. measuring at least one vehicle state characteristic;

b. computing a measured point of the vehicle based upon the at least one vehicle state characteristic;

c. correlating the measured point to a matched point on the map route;

d. searching the map route for a curve therein which exceeds a predetermined threshold;

e. updating the measured point and matched point to a point corresponding to the end of the curve; and

f. displaying the map route and the matched point thereon.

14. The method of claim 13 further comprising a step before said step (c) of inputting a predetermined map route.

15. The method of claim 13 further comprising a step after said step (c) of confirming the map route.

16. The method of claim 13 further comprising a step after said step (c) of computing at least one statistical parameter from a deviation distance between the measured point and the matched point.

17. The method of claim 16 further comprising a step after said step (c) of calculating a correlation characteristic from the at least one statistical parameter.

18. The method of claim 17 further comprising a step after said step (c) of confirming the map route from the correlation characteristic.

19. The method of claim 13 wherein the at least one vehicle state characteristic is measured by at least one of a dead reckoning system, an inertial navigation system and a global positioning system.

20. The method of claim 13 further comprising a step before step (a) of initializing an initial vehicle location.

21. The method of claim 20 wherein said intializing includes manually inputting the initial vehicle location via a user interface.

22. The method of claim 20 wherein said intializing includes automatically inputting intialization information via at least one of a tag receiver and an absolute positioning system.

23. A map matching navigation system to determine a location of a vehicle on a map route, comprising:

a. a navigator to determine a measured point of the vehicle;

b. a map database including a plurality of map routes;

c. a correlator coupled with said navigator and said map database to determine at least one matched point of the vehicle on a plurality of candidate routes and each of the at least one matched point corresponds to the measured point;

d. a map route processor coupled with said correlator and said map database, said map route processor calculating at least one statistical parameter from a deviation distance between said at least one measured point and said at least one matched point to determine the map route from a plurality of candidate routes; and

e. an analyzer coupled with said correlator and said map route processor to detect an end of a curve in the map route and update the measured point and the matched point to the end of the curve.

24. The map matching navigation system of claim 23 wherein said map route processor calculates a correlation characteristic for said at least on statistical parameter and confirms a map route from said plurality of candidate routes using said correlation characteristic.

25. The map matching navigation system of claim 24 wherein said map route processor identifies the map route from the candidate routes and the map route has a correlation characteristic within a preselected range.

26. A map matching navigation system to determine a location of a vehicle on a map route, comprising:

a. a navigator to determine a measured point of the vehicle;

b. a map database including a plurality of map routes;

c. a correlator coupled with said navigator and said map database to determine at least one matched point of the vehicle on a plurality of candidate routes and each of the at least one matched point corresponds to the measured point;

d. a map route processor coupled with said correlator and said map database, said map route processor calculating at least one statistical parameter from a deviation distance between said at least one measured point and said at least one matched point to determine the map route from a plurality of candidate routes,

said map route processor calculating a correlation characteristic for said at least on statistical parameter and confirms a map route from said plurality of candidate routes using said correlation characteristic,

said map route processor identifying the map route from the candidate routes and the map route has a correlation characteristic within a preselected range; and

e. an analyzer coupled with said correlator and said map route processor to detect an end of a curve in the map route and update the measured point and the matched point to the end of the curve.