Navigation system and a vehicle control system

• US 6,199,011 B1
• Filed: 07/07/1998
• Issued: 03/06/2001
• Est. Priority Date: 07/09/1997
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Matsuda, Shohei
• Primary Examiner(s): Cuchlinksi, Jr., William A.
• Assistant Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/110,865
• Time in Patent Office: 973 Days
• Field of Search: 701/70, 701/78, 701/79, 701/200, 701/207, 701/208, 701/209, 701/210, 701/212, 701/213, 701/214, 701/216, 701/221, 701/300, 340/988, 340/990, 340/995, 340/438
• US Class Current: 701/208
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network

Abstract

A navigation system is provided where an error in the road data and an omission of the road data can be compensated for, and a vehicle control system is provided for using the navigation system. A yaw rate generation starting position, a yaw rate peak position and a yaw rate generation finishing position of a traveling vehicle are detected. The three positions determined are an inlet position, a central position and an outlet position of a curved road. If the three positions are offset to positions of nodes N₂, N₃ and N₄ on the curved road stored in a map information storing means of the navigation system, the positions of the nodes N₂, N₃ and N₄ are corrected so that they are matched with the three positions. It is determined based on the corrected road data whether it is possible for a subject vehicle to pass through a road ahead of the subject vehicle. When it is impossible for the subject vehicle to pass through the road, a warning to a driver or an automatic speed reduction is carried out.

Claims

1. A navigation system comprising:

a map information storing means having road data stored therein;

a subject-vehicle position detecting means for detecting the position of a subject vehicle on a map;

an azimuth angle-varied state detecting means for detecting a transient azimuth angle-varied state of the subject vehicle; and

a road data correcting means for correcting the road data stored in said map information storing means based on the transient azimuth angle-varied state and the position of the subject vehicle,

wherein said azimuth angle-varied state detecting means detects at least one of an inlet position, a central position and an outlet position of a curved road based on the detected transient azimuth angle-varied state.

2. A navigation system according to claim 1, wherein said azimuth angle-varied state detecting means detects a yaw rate generation starting position of the subject vehicle as said inlet position of the curved road.

3. A navigation system according to claim 1, wherein said azimuth angle-varied state detecting means detects a yaw rate generation finishing position of the subject vehicle as said outlet position of the curved road.

4. A navigation system according to claim 1, wherein said azimuth angle-varied state detecting means detects a yaw rate peak position of the subject vehicle as said central position of the curved road.

5. A vehicle control system including a navigation system according to any of claims 1 to 4, further comprising

an ahead-road shape determining means for determining the shape of a road ahead of the subject vehicle based on the road data resulting from the correction by the road data correcting means,

an appropriate passage speed calculating means for calculating an appropriate passage speed on the road ahead of the subject vehicle determined by said ahead-road shape determining means, and

a vehicle control means for carrying out the vehicle control based on a vehicle speed of the subject vehicle and the appropriate passage speed calculated by said appropriate passage speed calculating means.

6. A vehicle control system according to claim 5 further comprising a warning means for warning a driver of the subject vehicle to decelerate the subject vehicle.

7. A vehicle control system according to claim 6, wherein said warning means is operated by said vehicle control means.

8. A vehicle control system according to claim 5, further comprising a brake operating device for automatically braking the vehicle.

9. A vehicle control system according to claim 5, further comprising a throttle control device for automatically closing a throttle valve.

10. A navigation system comprising:

a map information storing means having road data stored therein;

a subject-vehicle position detecting means for detecting the position of a subject vehicle on a map;

an azimuth angle-varied state detecting means for detecting a transient azimuth angle-varied state of the subject vehicle; and

a road data correcting means for correcting the road data stored in said map information storing means based on the transient azimuth angle-varied state and the position of the subject vehicle,

wherein said azimuth angle-varied state detecting means detects at least one of an inlet position, a central position and an outlet position of a branch road based on the detected transient azimuth angle-varied state.

11. A navigation system according to claim 10, wherein said azimuth angle-varied state detecting means detects a yaw rate generation starting position of the subject vehicle as said inlet position of the branch road.

12. A navigation system according to claim 10, wherein said azimuth angle-varied state detecting means detects a yaw rate generation finishing position of the subject vehicle as said outlet position of the branch road.

13. A navigation system according to claim 10, wherein said azimuth angle-varied state detecting means detects a yaw rate peak position of the subject vehicle as said central position of the branch road.