Navigation system for automotive vehicle including feature of updating vehicle position at selected points along preset course

• US 4,774,672 A
• Filed: 03/10/1986
• Issued: 09/27/1988
• Est. Priority Date: 03/11/1985
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Kawakami, Yasushi, Tsunoda, Masakazu, Tohjyo, Seiichi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/838,301
• Time in Patent Office: 932 Days
• Field of Search: 364/443, 364/444, 364/449, 364/460, 364/521, 364/571, 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

Abstract

A navigation system includes a display control for controlling a display monitor on which a road map and a trace of the vehicle position are to be displayed. The navigation system also includes means for detecting when the vehicle reaches a known point on a preset route. The display control is responsive to detection of the vehicle reaching the known point to erase the displayed trace and set the vehicle position to that of the corresponding known point on the displayed map.

Claims

1. A navigation system for an automotive 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 driving 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 and storing the selected routine, said fourth means storing third data indicative of designated known points along said route and a predetermined condition for detecting when the vehicle reaches each of said designated known points;

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

sixth means for setting a travel zone between successive designated known points, said sixth means including display means for displaying an instantaneous position of said vehicle, said sixth means monitoring vehicle position within said travel zone, said sixth means further including detection means for detecting when said predetermined condition is satisfied and in response updating said travel zone by setting a new travel zone between said vehicle position and a subsequent next one of said successive designated known points, erasing said trace of vehicle travel and redrawing said symbol of the vehicle position at a next one of said successive designated known points.

2. A navigation system as set forth in claim 1, wherein said sixth means detection means detects the approach of the vehicle to the next designated known point on the basis of said first data, detects when the distance from said vehicle position to said next designated known point is less than a given distance, thus defining an area centered at said next designated known point, detects when the vehicle enters said defined area and checks said second data against a given direction so as to detect when the vehicle travel direction matches said given direction, and in response to detecting said vehicle entering said defined area and detecting said vehicle travel direction matches said given direction, detecting that said predetermined condition is satisfied, and that the vehicle has reached said next designated known point.

3. A navigation system as set forth in claim 1, wherein said sixth means derives a distance of travel from a starting designated known point, detects the approach of the vehicle to the next designated known point on the basis of said first data, and detects when the distance from said vehicle position to said next designated known point is less than a given distance, thereby defining an area centered at said next designated known point, detects when the vehicle enters said defined area and compares said derived travel distance with the known distance between said designated known points, and in response to detecting the vehicle entering said defined area and comparing said derived travel distance with the known distance, detecting that said predetermined condition is satisfied, and thereby detecting that the vehicle has reached said next designated known point.

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

5. 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.

6. 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.

7. A navigation system as set forth in claim 6, 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 designated known points at least within said defined area, in cases where the vehicle directions approaching and leaving said next designated known point are approximately equal.

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

9. A navigation system as set forth in claim 8, wherein said first means replaces said first data with the position data of said next designated known point when the vehicle travel distance from said next 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 area.

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

11. 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 designating known points along the preset route;

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

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

displaying a symbol indicative of the instantaneous vehicle position and a trace of vehicle position through said travel zone;

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

shifting vehicle position indicative symbol to said second designated known point on the display and erasing said vehicle trace; and

redefining said travel 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 designated known point.

12. The process as set forth in claim 11, 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.

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

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

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

16. The process as set forth in claim 15, 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.

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