Vehicle guidance system and method therefor

• US 6,314,368 B1
• Filed: 06/07/1995
• Issued: 11/06/2001
• Est. Priority Date: 11/08/1982
• Status: Expired due to Fees

• Current Assignee: Adamsu Gebre, Hailemichael Gurmu
• Original Assignee: Adamsu Gebre, Hailemichael Gurmu
• Inventors: Gurmu, Hailemichael, Gebre, Adamsu
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/487,672
• Time in Patent Office: 2,344 Days
• Field of Search: 364/443, 364/444, 364/449, 364/436, 364/424.02, 731/78.R, 340/988, 340/990, 340/991, 340/995, 701/200, 701/202, 701/207, 701/208, 701/209, 701/210, 701/117, 701/24-26
• US Class Current: 701/209
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/3415 Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
• CPC Class Codes: G01C 21/3492 employing speed data or traffic data, e.g. real-time or historical traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968
• CPC Class Codes: G08G 1/096811 where the route is computed offboard
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data
• CPC Class Codes: G08G 1/096861 where the immediate route instructions are output to the driver, e.g. arrow signs for next turn

Abstract

A vehicle guidance system for guiding motor vehicles comprising a central traffic control system, a plurality of roadside equipment, and an on-board vehicle guidance and control system. The central traffic control system includes horizontal memory for storing horizontal coordinates and direction information of a locality, vertical memory for storing vertical coordinates and direction information of the locality, transmitter means for transmitting the horizontal and vertical information of the locality, and a system control unit for controlling the continuous transmission of the horizontal and vertical information of the locality. The roadside equipment includes coordinates memory for storing the coordinates information of the roadside equipment, coordinates transmitter means for transmitting the coordinates information of the roadside equipment to the vehicle, receiver means for receiving destination information from the vehicle, and vehicle destination means for transmitting the coordinates information of the roadside equipment and the destination information of the vehicle to the central traffic control system. The on-board vehicle guidance and control system includes receiver means for receiving the horizontal and vertical coordinates information of the locality traffic control system, vertical coordinates memory for storing the vertical coordinates information of the locality, horizontal coordinates memory for storing the horizontal coordinates information of the locality, an on-board system control unit for controlling the reception and storage of the horizontal and vertical coordinates information of the locality, display feed memory for storing route direction information for reaching the destination of the vehicle, and display means for displaying the route direction information.

Claims

1. In a vehicle guidance system for guiding a motor vehicle in a locality in which locations therein are defined by a plurality of decision points representing intersections and a respective plurality of links representing streets interconnecting said intersections, the improvement comprising:

a memory defining a primary street having a number of decision points spaced thereon, each decision point being further defined by a crossing street identifier, x-y coordinate values representing the location of decision point in said locality, a number of bearing values representing directional routes emanating a decision point, and distance values representing the distance along each link from one decision point to another decision point interconnected by a link;

a retrieval circuit connected to said memory for accessing information therein,

an initiation circuit for inputting representation of an x-y coordinate value indicative of an instantaneous position of the vehicle,

a route programming circuit for inputting a representation of an x-y coordinate value indicative of a desired destination of said vehicle,

a route computation device connected to said memory and said retrieval circuit for determining a series of route segments between said instantaneous position and said desired destination, said computation device including;

a processor for calculating a directional bearing between said instantaneous position and said desired destination based upon the respective x-y coordinate values of said instantaneous position and said desired destination,

for comparing said directional bearing with bearings of links emanating from a decision point beginning at a first decision point nearest said instantaneous position,

for selecting a bearing of a link representing a first route segment emanating from said first decision point which matches the calculated directional bearing the closest thereby to ascertain a next connecting decision point and corresponding x-y coordinate value, bearings and distance information,

for storing information pertaining to a first link in a programmed route memory, and

until calculating all route segments to reach said desired destination, for calculating a next directional bearing from said next decision point, for comparing said next directional bearing with each said link emanating from said next decision point, for selecting a bearing of a link representing a next route segment which matches the next directional bearing the closest thereby to ascertain a further connecting decision point, and for storing said last route segment and a further connecting decision point information in said programmed route memory.

2. A vehicle guidance system as recited in claim 1 further including display device for displaying representations of the route segments stored in said programmed route memory as the vehicle proceeds from said instantaneous position to said desired destination.

3. A vehicle guidance system as recited in claim 2 further including a detector for detecting the route and direction of travel of said vehicle and for indicating when the vehicle has deviated from said programmed route.

4. A vehicle guidance system as recited in claim 3 further including a new route calculator for calculating a new programmed route beginning from a decision point following the decision point where the vehicle deviated from said programmed route.

5. A vehicle guidance system as recited in claim 1 further including a distance counter for measuring a covered distance of travel of said vehicle between decision points along a link, a comparator for comparing the covered distance with the distance value stored in said memory, and a turn detector for detecting a turn condition when said covered distance substantially matches said distance value stored in memory.

6. A vehicle guidance system as recited in claim 5 wherein said a distance counter is reset to zero when the vehicle reaches each said decision point during travel in said locality.

7. A vehicle guidance system as recited in claim 1 further including a central traffic control having a central memory having contents identical to the contents of said memory of said vehicle, a traffic updator for updating the contents of said central memory in accordance with detected traffic conditions, a transmitter for transmitting the updated contents of said central memory to said memory of said vehicle whereby said programmed route is determined in accordance with said detected traffic conditions.

8. A vehicle guidance system as recited in claim 7 further including deviation detector located at central traffic control for indicating when said vehicle has deviated from said programmed route.

9. A vehicle guidance system as recited in claim 7 wherein said traffic updator includes a vehicle position detector for detecting the position and destination of vehicles in the locality which transmits position and destination information of said vehicles to said central traffic control, means for calculating route segments of respective vehicles to reach their respective destinations based upon their respective positions, means for predicting traffic congestion based upon said calculated route segments of the respective vehicles, an means for re-transmitting information to said vehicles relative to said predicted congestion.

10. In a vehicle guidance system for guiding a motor vehicle in a locality in which locations therein are defined by a plurality of decision points representing intersections and a respective plurality of links representing streets interconnecting said intersections, a method comprising the steps of:

defining in a memory a primary street having a number of decision points spaced thereon, each decision point being further defined by a crossing street identifier, x-y coordinate values representing the location of decision point in said locality, a number of bearing values representing directional routes emanating from a decision point, and distance values representing the distance along each link from said decision point to an interconnecting decision point;

retrieving information stored in said memory,

inputting a representation of an x-y coordinate value indicative of the instantaneous position of the vehicle,

inputting a representation of an x-y coordinate value indicative of a desired destination of said vehicle,

determining a series of route segments between said instantaneous position and said desired destination by;

calculating a directional bearing between said instantaneous position and said desired destination based upon the respective x-y coordinate values of said instantaneous position and said desired destination,

comparing said directional bearing with bearings of links emanating from a decision point beginning at a first decision nearest said instantaneous position,

selecting a bearing of a link representing a first route segment emanating from said first decision point which matches the calculated directional bearing the closest thereby to ascertain a next connecting decision point and corresponding x-y coordinate, bearings and distance information,

storing information pertaining to a first link in a programmed route memory, and

until computing all route segments to reach said desired destination, calculating a next directional bearing from said next decision point, comparing said next directional bearing with each said link emanating from said next decision, selecting a bearing of a link representing a next route segment which matches the next directional bearing the closest thereby to ascertain a further connecting decision point, and storing a last route segment and said further connecting decision point information in said programmed route memory.

11. A method as recited in claim 10 further including the step of displaying representations of the route segments stored in said programmed route memory as the vehicle proceeds from said instantaneous position to said desired destination.

12. A method as recited in claim 11 further including the step of detecting the route and direction of travel of said vehicle and indicating when the vehicle has deviated from said programmed route.

13. A method as recited in claim 12 further including the step of calculating a new programmed route beginning from a decision point following the decision point where the vehicle deviated from said programmed route.

14. A method as recited in claim 10 further including the step of measuring a covered distance of travel of said vehicle between decision points along a link, comparing the covered distance with the distance value of a link stored in said memory, and detecting a turn condition when said covered distance of travel substantially matches said distance value stored in memory.

15. A method as recited in claim 14 further including the step of resetting to zero the value of said covered distance when the vehicle reaches each said decision point during travel in said locality.

16. A method as recited in claim 10 further including a central traffic control having a central memory having contents identical to the contents of said vehicle, said method further including the steps of updating the contents of said central memory in accordance with detected traffic conditions, transmitting the updated contents of said central memory to said vehicle whereby said programmed route is determined in accordance with said detected traffic conditions.

17. A method as recited in claim 16 further including the step of indicating at central traffic control when said vehicle has deviated from said programmed route.

18. A method as recited in claim 16 further including the steps of detecting the position and destination of vehicles in the locality having transmitting means which transmit position and destination information of said vehicles to said central traffic control, calculating route segments of respective vehicles to reach their respective destinations based upon their respective positions, predicting traffic congestion based upon said calculated route segments of the respective vehicles, and re-transmitting information to said vehicles relative to said predicted congestion.