Navigation device for vehicle and preparation of road shape data used therefor

• US 6,268,825 B1
• Filed: 03/25/1999
• Issued: 07/31/2001
• Est. Priority Date: 11/25/1996
• Status: Expired due to Term

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Okada, Akio
• Primary Examiner(s): Blum, Theodore M.
• Application Number:
  US09/276,499
• Time in Patent Office: 859 Days
• Field of Search: 342/357.13, 701/208, 701/209, 701/210, 701/212
• US Class Current: 342/357.52
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G01C 21/3626 Details of the output of route guidance instructions traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G01C 21/3819 Road shape data, e.g. outline of a route
• CPC Class Codes: G01C 21/3844 Data obtained from position sensors only, e.g. from inertial navigation
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G09B 29/106 using electronic means

Abstract

A navigation control ECU (10) gives normal guidance to the driver of a vehicle based on the present location of the vehicle as determined from a D-GPS (12) and map data from a map database (14). A map database detailing device (32) obtains detailed data on the shape of a road from the detected valued of a yaw rate sensor (34), an acceleration sensor (36), and a vehicle speed sensor (30) and the data of the map database (14), and stores the detailed data in a detailed map database (28). A vehicle control ECU (20) evaluates the traveling stability of the vehicle at a curve and controls the deceleration, etc., of the vehicle by utilizing the detailed road shape data in the database (28). In this way, a vehicle navigation device can appropriately show the driver of the vehicle the route and control the traveling controller.

Claims

1. A navigation device for a vehicle, comprising:

self-vehicle location detection device that detect the self-vehicle location;

a map database that stores road information;

traveling control system control device that control the traveling controller of a vehicle based on the self-vehicle location detected by the said self-vehicle location detection device and the road information read from the said map database; and

navigation device that give guidance regarding the vehicle traveling based on the self-vehicle location detected by the said self-vehicle location detection device and the road information read from the said map database,

wherein the level of detail of the road information read from the said map database by the said navigation device is reduced lower than the level of detail of the road information read from the said map database by the said traveling control system control device.

2. The navigation device for the vehicle according to claim 1, wherein

said map database comprises a simplified map database that stores the road information for every location coordinate at prescribed pitches; and

a detailed map database that stores the road information stored in for every location coordinate at a finer pitch than the pitch prescribed in this simplified map database;

wherein

the traveling control system control device control the vehicle traveling control system based on the road information detailed map database; and

wherein the navigation device give guidance regarding the vehicle traveling based on the road information stored in the said simplified map database.

3. The navigation device for the vehicle according to claim 1, further comprising:

traveling status detecting device that detect the self-vehicle traveling status data;

wherein the detailed map database is updated based on the traveling status data obtained by this traveling status detection device and the self-vehicle location obtained by the self-vehicle location detection device.

4. A medium on which a navigation program that gives guidance regarding vehicle traveling is recorded by a computer, wherein

said navigation program allows the computer:

to fetch the self-vehicle location detected by the self-vehicle location detection device;

to read the corresponding road information from a map database based on the detected self-vehicle detection location;

to control the traveling controller of the vehicle based on the self-vehicle location fetched by the said self-vehicle location detection device and the road information read from the said map database; and

to give guidance regarding the vehicle traveling based on the self-vehicle location detected by the said self-vehicle location detection device and the road information read from the said map database;

wherein

the level of detail of the road information read from the said map database by the said navigation device is reduced lower than the level of detail of the road information read from the said map database by the said traveling control system control device.

5. The medium on which the vehicle navigation program is recorded according to claim 4, wherein

the map database comprises:

a simplified map database that stores road information for every location coordinate at prescribed pitches; and

a detailed map database that stores road information every location coordinate at a finer pitch than the prescribed pitch in this simplified map database;

wherein the navigation program allows the traveling control system control device to control the vehicle traveling controller based on the road information stored in the said detailed map database; and

the navigation device to give guidance regarding the vehicle traveling based on the road information stored in the said simplified map database.

6. The medium on which the vehicle navigation program is recorded according to claim 4, wherein

the said navigation program also:

detects the self-vehicle traveling status data by the vehicle status detection device; and

updates the detailed map database based on the traveling status data obtained by this traveling status detection device and the self-vehicle location obtained by the self-vehicle location detection device.

7. A map detailing method that details a map database in which road shape data is stored:

wherein

a vehicle is made to travel and the vehicle movement is detected in accordance with the vehicle location; and

the map database is detailed based on the comparison between the movement of this vehicle for every location and the road shape data of the map database.

8. The map detailing method according to claim 7, wherein

the said map database stores the road shape data for every location coordinate at a prescribed pitch and updates the prescribed pitch of this road shape data to a finer pitch.

9. The map detailing method according to claim 7, wherein

the said map database stores the road shape data for every location coordinate at a prescribed pitch and details the contents of the road shape data in one location coordinate.

10. A road shape data preparation device, comprising:

location change calculation device that calculate the change of the location in line with the traveling of a traveling status vehicle detected by the traveling status detection device;

correction device that compare the location change obtained by the location change calculation device with accurate location data according to the said location change obtained by other device and corrects the traveling status detected by the traveling status detection device based on the comparison result; and

road shape data calculation device that calculate the road shape data based on the corrected traveling status.

11. The road shape data preparation device according to claim 10, wherein

the traveling status detection device detects the traveling status between the measurement starting point and the measurement end point where the location can be determined accurately and the correcting device corrects the travelling status according to the coordinate displacement in the location change from the said measurement starting point to the measurement end point obtained by the location change calculation device.

12. The road shape data preparation device according to claim 11, wherein

road shape data obtained by the road shape data preparation device and road shape data of the existing map database are compared between the two points of the said measuring starting point and measuring end point and the road shape data obtained by the road shape data preparation device in accordance with the comparison result.

13. The road shape data preparation device according to claim 11, wherein

the road shape data in the existing map database is the data for every point at a prescribed pitch, and detailed road shape data is obtained by making the road shape data after correction processing correspond to this point, multiply dividing the section between these corresponding points, and mapping the road shape data that corresponds to the number of divisions.

14. The road shape data preparation device according to claim 10, wherein

the vehicle location is detected by D-GPS.

15. A road shape data preparation device, wherein traveling status of a vehicle is detected, a change of location is calculated in line with the traveling of the detected traveling status vehicle, the calculated location change and road location data of an existing map database are compared, the detected traveling status is corrected based on this comparison result, and road shape data is calculated based on the corrected traveling status.

16. The road shape data according to claim 15, wherein the traveling status is detected between the measurement starting point and measuring end point where the location can be determined accurately and the drive status detected according to the coordinate displacement in the location change from the said measurement starting point to the measurement end point obtained based on the location change is corrected.

17. The road shape data preparation device according to claim 16, wherein

the road shape data obtained by the road shape data preparation device and the road shape data of the existing map database are also occasionally compared between the two points of the said measurement starting point and measurement end point, and the road shape data obtained by the road shape preparation device in accordance with the comparison result is corrected.

18. The road shape data preparation method according to claim 16, wherein

the road shape data in the existing map database is the data for every point at a prescribed pitch, and the detailed road shape data is obtained by making the road shape data after correction processing correspond to this point, multiply dividing the section between these corresponding points, and mapping the road shape data that corresponds to the number of divisions.

19. The road shape data preparation device according to claim 15, wherein

the vehicle location is detected by the D-GPS.