Method for navigating a vehicle utilizing map data

• US 6,415,221 B1
• Filed: 08/30/2000
• Issued: 07/02/2002
• Est. Priority Date: 09/21/1999
• Status: Expired due to Fees

• Current Assignee: Mannesmann VDO AG (Continental AG)
• Original Assignee: Mannesmann VDO AG (Continental AG)
• Inventors: Egberts, Egbert
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US09/651,507
• Time in Patent Office: 671 Days
• Field of Search: 701/208, 701/200, 701/210, 701/224, 701/220, 701/217
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching

Abstract

The invention specifies a method for navigating a vehicle, in which at least one sensor is used to ascertain a vector for a distance covered from direction and length, a plurality of vectors are used to determine a position of the vehicle, and the position is depicted on a map position, where, under prescribed conditions, the direction ascertained by the sensor is corrected using a direction ascertained on the basis of the map. The aim of this is to be able to improve continuous position determination. To this end, if a direction difference arises between the sensor and the map, the direction difference, or the variables on which it is based, are subjected to a plausibility check.

Claims

1. A method for navigating a vehicle, in which:

at least one sensor is used to ascertain a vector for a distance covered from direction and length;

a plurality of vectors is used to determine a position of the vehicle;

the position is depicted on a map in a first map position; and

where, under prescribed conditions, the direction ascertained by the sensor is corrected using a direction ascertained on the basis of the map, wherein, if a first direction difference arises between the sensor and the map, the first direction difference, or at least one of a plurality of variables on which the first direction difference is based, is subjected to a plausibility check, wherein the plausibility check is based on at least one of the variables on which the first direction difference is based.

2. The method as claimed in claim 1, wherein a possible maximum error is estimated and a correction is then not made if the estimated maximum error is smaller than the direction difference.

3. The method as claimed in claim 2, wherein the possible maximum error is formed by a product comprising an error value and a time since a last correction, and may include an estimated error value comprising the last correction.

4. The method as claimed in claim 2, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

5. The method as claimed in claim 3, wherein the error value is ascertained from previous corrections.

6. The method as claimed in claim 3, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

7. The method as claimed in claim 5, wherein the error value is filtered.

8. The method as claimed in claim 5, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

9. The method as claimed in claim 7, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

10. The method as claimed in claim 1, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

11. A method for navigating a vehicle, in which:

at least one sensor is used to ascertain a vector for a distance covered from direction and length;

a plurality of vectors is used to determine a position of the vehicle;

the position is depicted on a map in a first map position; and

where, under prescribed conditions, the direction ascertained by the sensor is corrected using a direction ascertained on the basis of the map, wherein, if a first direction difference arises between the sensor and the map, the first direction difference, or at least one of a plurality of variables on which the first direction difference is based, is subjected to a plausibility check to determine whether the first direction difference may be due to an error attributable to the sensor.

12. The method as claimed in claim 11, wherein a possible maximum error is estimated creating an estimated maximum error and a correction is then not made if the first estimated maximum error is smaller than the direction difference.

13. The method as claimed in claim 12, wherein the estimated maximum error is formed by a product comprising an error value and a time since a last correction, and may include an estimated error value comprising the last correction.

14. The method as claimed in claim 12, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

15. The method as claimed in claim 13, wherein the estimated error value is ascertained from previous corrections.

16. The method as claimed in claim 13, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

17. The method as claimed in claim 15, wherein the estimated error value is filtered.

18. The method as claimed in claim 15, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

19. The method as claimed in claim 17, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.

20. The method as claimed in claim 11, wherein the map is searched for at least one alternative map position for which a second direction difference is smaller than the first direction difference.