Vehicle guidance system using signature zones to detect travel path

• US 6,028,550 A
• Filed: 08/08/1997
• Issued: 02/22/2000
• Est. Priority Date: 08/08/1997
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Sotelo, James, Smith, Scott R., Froeberg, Peter L.
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US08/907,763
• Time in Patent Office: 928 Days
• Field of Search: 342/357.13, 342/357.09, 342/357.1, 701/209, 701/210, 455/422
• US Class Current: 342/357.29
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 2205/002 for traffic control, mobile tracking, guidance, surveillance or anti-collision
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles

Abstract

A system and method for determining which of a plurality of travel paths is taken by vehicles through area in which the performance of an automatic vehicle location (AVL) system is reduced. In one embodiment, the present invention divides a geographic region into a plurality of signature zones which are further divided into a plurality of signature zone cells. The signature zone cells in each signature zone correspond to travel paths that pass through an area having structures that prevent reception of GPS signals or any area where GPS alone is not sufficient to discern travel path. The present automatic vehicle path determination system then calculates correlation values for positions in each signature zone cell that correspond to the travel paths that pass through the signature zone. The position of each vehicles is monitored by an automatic vehicle location (AVL) system. The present automatic vehicle path determination system then determines the path taken by each vehicle passing through the signature zone. The present invention then communicates to the CAD system the path taken by each vehicle. Thus, the present invention provides a system which automatically determines which path is taken by a vehicle entering an area having structures that prevent reception of GPS signals, a system which can function in conjunction with an existing AVL or CAD system, and a system which reduces CAD system operator decision making processes.

Claims

1. An automatic vehicle path determination system for determining the path taken by a vehicle travelling through an area having structures that inhibit reception of position locating signals, said system comprising:

a signature zone cell database including a plurality of signature zone cells corresponding to travel paths within a signature zone, said signature zone cell database also including a plurality of location coordinates, said plurality of location coordinates corresponding to locations within said plurality of signature zone cells; and

a travel path matrix including a plurality of correlation values, said plurality of correlation values corresponding to said plurality of location coordinates such that the travel path of a vehicle can be determined by comparing values in said travel path matrix for ones of said plurality of location coordinates in said signature zone cell database corresponding to position information received from said vehicle.

2. The automatic vehicle path determination system of claim 1 further wherein said automatic vehicle path determination system further comprises a speed and direction matrix, said speed and direction matrix comprising correlation values corresponding to speed and direction indications for locations within said signature zone cells.

3. The automatic vehicle path determination system of claim 1 wherein said automatic vehicle path determination system is integral with an automatic vehicle location system.

4. The automatic vehicle path determination system of claim 3 further comprising:

a computer aided dispatch system coupled to said automatic vehicle location system; and

wherein said automatic vehicle path determination system is coupled to said computer aided dispatch system and said automatic vehicle location system, said automatic vehicle path determination system for communicating to said computer aided dispatch system the path of a vehicle approaching a area in which the performance of said automatic vehicle location system is reduced.

5. In a computer system including a processor coupled to a bus, and a memory unit coupled to said bus for storing information, a computer-implemented method for indicating which of a plurality of travel paths is taken by a vehicle, said computer-implemented method comprising the steps of:

a.) designating a plurality of signature zone cells corresponding to travel paths that extend through an area having structures that inhibit reception of position locating signals;

b.) calculating correlation values corresponding to locations within said signature zone cells;

c.) incorporating signature zone cell information into an automatic vehicle path determination system;

d.) incorporating correlation value information into said automatic vehicle path determination system;

e.) determining the travel path of a vehicle passing through said signature zone cells by comparing position information from said vehicle to said signature zone cell information and comparing said correlation information corresponding to said position information; and

f.) communicating to said automatic vehicle location system which travel path is taken by vehicles passing through one of said signature zone cells such that position information for each of a plurality of vehicles monitored by said automatic vehicle path determination system further comprises an indication of the travel path of vehicles passing through said signature zone cells.

6. The computer-implemented method as recited in claim 5 wherein said step of designating a plurality of signature zone cells further comprises the step of:

determining diverging travel paths leading to area having structures that inhibit reception of position locating signals; and

assigning a plurality of signature zone cells to each diverging travel path.

7. The computer-implemented method as recited in claim 6 wherein step a) further comprises the step of:

determining the amount of divergence between different travel paths leading to said area having structures that inhibit reception of position locating signals.

8. The computer-implemented method as recited in claim 5 further comprising the step of:

assigning a plurality of labels to travel paths that pass through said area having structures that inhibit reception of position locating signals such that said plurality of labels identify the travel paths that pass through said area having structures that inhibit reception of position locating signals.

9. The computer-implemented method as recited in claim 8 wherein said step of communicating to said computer aided dispatch system which travel path is taken by vehicles passing through one of said signature zone cells further comprises communicating the label corresponding to the travel path taken by vehicles passing through one of said signature zone cells such that position information for each of a plurality of vehicles monitored by said automatic vehicle path determination system further comprises the display of the label corresponding to the travel path of vehicles passing through said signature zone cells.

10. The computer-implemented method as recited in claim 6 wherein step a) further comprises the step of:

determining the number of signature zone cells to be assigned to each travel path.

11. The computer-implemented method as recited in claim 10 wherein said step of assigning a plurality of signature zone cells to each diverging travel path further comprises the step of:

storing location coordinates corresponding to locations within each signature zone cell within a matrix.

12. The computer-implemented method as recited in claim 5 wherein said step of calculating correlation values corresponding to locations within said signature zone cells includes the steps of:

performing a mathematical function on each location coordinate located within a signature zone cell so as to determine how closely the location coordinate corresponds to each possible travel path.

13. The computer-implemented method as recited in claim 12 wherein said step of performing a mathematical function on each location coordinate located within a signature zone cell so as to determine how closely the location coordinate corresponds to each possible travel path further comprises:

performing a least squares mathematical function on each location coordinate located within a signature zone cell so as to determine how closely the location coordinate corresponds to each possible travel path.

14. The computer-implemented method as recited in claim 13 wherein said step of determining the travel path of vehicles passing through said signature zone cells further includes the step of:

determining a travel path for a vehicle passing through a signature zone by comparing all correlation values corresponding to position information received from said vehicle as said vehicle passes through said signature zone.

15. The computer-implemented method as recited in claim 14 wherein said step of determining the travel path of vehicles passing through said signature zone cells further includes the step of:

determining an estimated accuracy for a vehicle passing through a signature zone by comparing all correlation values corresponding to position information received from said vehicle as said vehicle passes through said signature zone.

16. The computer-implemented method as recited in claim 15 wherein said step of determining the travel path of vehicles passing through a signature zone further includes the steps of:

comparing said determined estimated accuracy to a minimum accuracy variable so as to determine whether or not there is a sufficiently high likelihood that the vehicle is on a given travel path.

17. A computer-usable medium having computer-readable program code embodied therein for causing a computer to perform the steps of:

a.) designating a plurality of signature zone cells corresponding to travel paths that extend through an area having structures that inhibit reception of position locating signals;

b.) calculating correlation values corresponding to locations within said signature zone cells;

c.) incorporating signature zone cell information into an automatic vehicle path determination system;

d.) incorporating correlation value information into said automatic vehicle path determination system;

e.) determining the travel path of a vehicle passing through said signature zone cells by comparing position information from said vehicle to said signature zone cell information and comparing said correlation information corresponding to said position information; and

f.) communicating to said automatic vehicle location system which travel path is taken by vehicles passing through one of said signature zone cells such that position information for each of a plurality of vehicles monitored by said automatic vehicle path determination system further comprises an indication of the travel path of vehicles passing through said signature zone cells.

18. The computer-usable medium of claim 17 wherein step c) further comprises the step of:

c1) storing position coordinates within a matrix.

19. The computer-usable medium of claim 18 wherein step d) further comprises the step of:

d1) storing correlation value information within a matrix.