System and method for vehicle navigation using lateral offsets

• US 9,052,207 B2
• Filed: 10/22/2009
• Issued: 06/09/2015
• Est. Priority Date: 10/22/2009
• Status: Active Grant

• Current Assignee: Tomtom Polska Sp. Z O.O. (TomTom NV)
• Original Assignee: Tomtom Polska Sp. Z O.O. (TomTom NV)
• Inventors: Miksa, Krzysztof, Smiechowicz, Krzysztof
• Primary Examiner(s): Jen, Ian
• Application Number:
  US13/503,399
• Publication Number:
  US 20120271540A1
• Time in Patent Office: 2,056 Days
• US Class Current: 1/1
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A navigation system for use in a vehicle (402). The system includes an absolute position sensor, such as GPS, in addition to one or more additional sensors, such as a camera, laser scanner, or radar. The system further comprises a digital map or database that includes records for at least some of the vehicle'"'"'s surrounding objects (400). These records can include relative positional attributes with respect to a reference axis (404). As the vehicle (402) moves, sensors sense the presence of at least some of these objects (400), and measure the vehicle'"'"'s relative position to those objects. This information is used to determine the vehicle'"'"'s instantaneous lateral offset (428) relative to the reference axis (404), and support features such as enhanced driving directions, collision avoidance, or automatic assisted driving. The system also allows new objects (408, 414) to be attributed using relative positioning, and thereby factored into the enhanced navigation features.

Claims

1. A method for vehicle navigation using the vehicle'"'"'s lateral offset from a common reference axis, said method comprising the steps of:

providing a digital map database containing stored absolute geographic location and relative spatial location for a plurality of objects, said objects including a longitudinally extending roadway, a marker disposed adjacent to the roadway, and a reference axis spatially associated with and extending generally parallel to the roadway, said digital map database further including an object offset stored therein, said object offset comprising the perpendicular distance measurement between said reference axis and said marker;

providing a vehicle configured to travel along the roadway, the vehicle transporting therewith a navigation system enabled by at least one object sensor;

sensing the existence, identity, and relative bearing/range to the marker using at least one object sensor; and

calculating an instantaneous vehicle offset using the stored object offset and the sensed relative bearing/range to the marker, the instantaneous vehicle offset being the perpendicular distance measurement between the reference axis and the vehicle.

2. The method of claim 1, further including determining an initial absolute geographic position of the vehicle relative to the digital map database.

3. The method of claim 1, further including sensing the relative bearing/range to an encountered new object, and calculating a new object offset, wherein the new object offset is the perpendicular distance measurement between the reference axis and the new object.

4. The method of claim 3, wherein the new object comprises a second vehicle traveling the roadway.

5. The method of claim 1, wherein said step of sensing the existence, identity, relative bearing/range to the marker includes matching the sensed marker with an object stored in the digital map database.

13. A non-transitory computer data carrier having stored thereon instructions which, when carried out by one or more processors of a vehicle navigation system, cause the one or more processors to perform the method of claim 1.

14. The method of claim 1 further comprising receiving content broadcast to the vehicle.

15. The method of claim 14, wherein the content is used by an advanced driver assistance system within the vehicle.

16. The method of claim 15, wherein the advanced driver assistance system provides real-time lane guidance for the vehicle.

6. A system for vehicle navigation using its lateral offset from a common reference axis, said system comprising:

a digital map database containing stored absolute geographic location and relative spatial location for a plurality of objects, said objects including a longitudinally extending roadway, a marker disposed adjacent to the roadway, and a reference axis spatially associated with and extending generally parallel to the roadway;

said digital map database further including an object offset stored therein, said object offset comprising the perpendicular distance measurement between said reference axis and said marker;

at least one object sensor for sensing the relative bearing/range to said marker; and

a portable navigation device operatively interconnecting said object sensor and said digital map database for calculating an instantaneous vehicle offset using the stored object offset and the sensed relative bearing/range.

7. The system of claim 6, wherein said portable navigation device includes an absolute position sensor configured to determine an initial absolute geographic position relative to said digital map database.

8. The system of claim 6, wherein said marker includes an RFID identifier.

9. The system of claim 6, wherein said marker comprises a street sign.

10. The system of claim 6, wherein said marker comprises a road marking.

11. The system of claim 6, furthering including a communicator for communicating with another nearby navigation system to compute a possible collision.

12. The system of claim 6, wherein said communicator includes at least one remote server for performing off-board computations.

17. The system of claim 6 further comprising an advanced driver assistance system (ADAS) to provide real-time lane guidance vehicle navigation.

18. The system of claim 17, wherein the ADAS uses a distance to centerline to determine a vehicle lane departure or detect a collision for the vehicle.