Navigation system for automotive vehicle including feature of updating vehicle position at every intersection along preset course

• US 4,774,671 A
• Filed: 03/10/1986
• Issued: 09/27/1988
• Est. Priority Date: 03/14/1985
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Mizushima, Katuhiko, Ueno, Hiroshi, Itoh, Toshiyuki
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/838,304
• Time in Patent Office: 932 Days
• Field of Search: 364/443, 364/444, 364/449, 364/460, 364/571, 364/521, 73/178 R, 342/450, 342/451, 340/988, 340/990, 340/995
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/36 Input/output arrangements for on-board computers

Abstract

A navigation system comprises a vehicle position sensor for monitoring and updating vehicle position, a travel distance sensor monitoring vehicle travel distance, a memory means for storing position data of update points, distances between successive update points, and preset direction of travel of the vehicle at update points, an update zone setting means, responsive to a signal from the vehicle position sensor indicating that the vehicle has reached an update point to within a given range depending upon the distance between the last two update points, for comparing travel distance measured by the travel distance sensor and the distance between said two update points to derive the difference therebetween, and setting an update zone around the next update point based on the derived difference, and a detector means responsive to said signal from the vehicle position sensor for monitoring the direction of travel of the vehicle within the update zone and recognizing that the vehicle is at the update point when the vehicle direction of travel matches the preset direction at the corresponding update point.

Claims

1. A navigation system for an automobile vehicle comprising:

first means for monitoring vehicle motion and deriving first data indicative of vehicle position;

second means for monitoring the direction of travel of the vehicle and deriving second data indicative of the vehicle travel direction;

third means for storing a map which includes a plurality of known points;

fourth means for selecting a route for the vehicle, said fourth means including data storage means for storing the selected routine, storing third data indicative of designated known points along said route, and fourth data indicative of a given direction related to each of said designated known points;

fifth means for displaying said map stored in said third means, and a symbol representing the vehicle position on said map; and

sixth means for deriving instantaneous position of said symbol on the displayed map on the basis of said first data, said sixth means monitoring vehicle position within a travelling zone between successive designated known points for detecting the approach of the vehicle to the next designated known point on the basis of said first data, and detecting when the distance from said vehicle position to said next designated known point is less than a given distance for defining an area centered at said next designated known point, detecting when the vehicle enters said defined area and checking said second data against said given direction so as to detect when the vehicle travel direction matches said given direction and thereby detecting that the vehicle has reached said next designated known point, said sixth means deriving the vehicle travel distance between the last two designated known points, comparing said derived travel distance with the known distance between said last two designated known points so as to derive an error value, and varying the size of said defined area in accordance with said error value.

2. A navigation system as set forth in claim 1, wherein said sixth means defines a new travel zone each time the vehicle passes a designated known point.

3. A navigation system as set forth in claim 1, wherein said fourth means stores first direction data indicative of the vehicle travel direction while approaching said next designated known point and second direction data indicative of the vehicle travel direction leaving said next designated known point, and derives said fourth data so as to represent a direction intermediate said stored first and second direction data.

4. A navigation system as set forth in claim 2, wherein said first means replaces said first data indicative of said vehicle position with position data for said next designated known point when said sixth means detects that the vehicle has reached said next designated known point.

5. A navigation system as set forth in claim 3, wherein said first means replaces said first data indicative of said vehicle position with position data for said next designated known point when said sixth means detects that the vehicle has reached said next designated known point.

6. A navigation system as set forth in claim 5, wherein said first means replaces said first data with the position data of said next designated known point when the travel distance derived by said sixth means matches the known distance between the two designated points at least within said defined area, in cases where the vehicle directions approaching and leaving said next designated known point are the same.

7. A navigation system as set forth in claim 6, wherein said sixth means defines said defined area as a circular area of variable radius related to said error value when said approaching direction and leaving direction are different, and as an elongated shaped area with a minor axis parallel to the vehicle travel direction and a major axis perpendicular to said vehicle travel direction.

8. A navigation system as set forth in claim 7, wherein said first means replaces said first data with the position data of said next designated known point when the vehicle travel distance from a former designated known point is less than said known distance between said two designated known points when the vehicle exits the distal side of said elongated shaped area.

9. A navigation system as set forth in claim 8, wherein said sixth means defines a new travelling zone whenever said first data is replaced with the position data for said next designated known point.

10. A process for navigation of a vehicle along a preset route comprising the steps of:

providing a road map with data for a plurality of known points along a route;

displaying said road map on a visual display screen;

presetting a route across said map and designated known points along the preset route;

defining a travelling zone between a first starting designated known point and a second designated known point along said route;

monitoring vehicle travel distance within said travelling zone and detecting when the vehicle approaches to within a first given area of said second designated known point;

displaying a symbol indicative of the instantaneous vehicle position;

defining a second given area centered at said second designated known point, the radius of said second area varying with the difference between the monitored travel distance and the known distance between said first and second designated points;

monitoring vehicle position within said second given area for comparison with a predetermined criterion for detecting when the vehicle coincides with said second designated known point; and

redefining said travelling zone by taking the second designated known point which currently coincides with said vehicle as said first designated known point and selecting a neighboring designated known point as said second desingated known point.

11. The process as set forth in claim 10, which detects when the vehicle coincides with said second given area by monitoring vehicle driving direction and comparing said vehicle driving direction with a known direction.

12. The process as set forth in claim 11, wherein said known direction is derived frcm a known first vehicle travelling direction assumed by a vehicle approaching said second designated known point and a known second vehicle travelling direction assumed by a vehicle leaving said second designated known point.

13. The process as set forth in claim 12, wherein said known direction is the bisector of the angle subtended by the azimuth vectors of said known first and second direction of travel.

14. The process as set forth in claim 13, wherein a coincidence of said vehicle with said second designated known point is detected by comparing said vehicle travel distance within said second distance area with the known distance between said first and second designated known points and detecting when the travel distance matches said known distance.

15. The process a set forth in claim 14, wherein a coincidence of said vehicle with said second designated known point is detected by monitoring vehicle position derived from said vehicle travel distance data and vehicle driving direction data and detecting when the vehicle reaches the distal border of said second given area.

16. The process as set forth in claim 15, wherein a position data of the vehicle ls updated with the known position data of said second designated known point each time said travelling zone is redefined.