Map-matching with competing sensory positions

• US 5,488,559 A
• Filed: 08/02/1993
• Issued: 01/30/1996
• Est. Priority Date: 08/02/1993
• Status: Expired due to Term

• Current Assignee: Motorola Solutions, Inc.
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Seymour, Leslie G.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/100,804
• Time in Patent Office: 911 Days
• Field of Search: 364/449, 364/450, 364/444, 364/460, 364/457, 364/447, 342/357, 342/457, 340/990, 340/995
• US Class Current: 701/208
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Abstract

A method, and corresponding system, of map-matching uses a first trend of position vectors (207, 215, 221, 229, 235, and 245) provided by a first position sensory system, and a second trend of position vectors (203, 211, 217, 225, and 231) provided by a redundant position sensory system. These sensory systems are preferably mounted on a vehicle but also may be a part of a hand held guidance device. The first position sensory system is preferably a GPS receiver (305) based system, and the second position sensory system is preferably a dead-reckoning sensory system, based on a compass (307) and an odometer (309). The first trend of position vectors (207, 215, 221, 229, 235, and 245) and the second trend of position vectors (203, 211, 217, 225, and 231) are compared to a trend of position vectors (212, 287, 289, 291, and 293) based on a map reference (303). A reference position vector (205, 213, 219, 227, 233, 239, 243, 246, and 249) is updated based on a matching of either or both of the first and second trends of position vectors to the trend of road segment position vectors based on the map reference. Further, one or more of the non-matching sensory system(s), or an estimated position vector associated with the non-matching sensory system(s), may be corrected influenced based on the updated reference position vector.

Claims

1. A method of map-matching for determining position vectors associated with road segments on a map, the method comprising the steps of:

determining a first position vector from a first sensory system;

determining at least a second position vector from at least a second sensory system; and

comparing the first position vector and the at least second position vector to a road segment position vector corresponding to a road segment location determined by a reference position vector, and updating the reference position vector to correspond to a corrected position vector if at least one of the first position vector and the at least second position vector matches the road segment position vector within a predetermined criteria for a plurality of comparisons.

2. A method in accordance with claim 1 wherein said reference position vector is initially determined by utilizing at least one of the first position vector, the second position vector, and a position vector determined from a map database referenced by road intersection position coordinates and an associated road segment heading.

3. A method in accordance with claim 2 wherein said predetermined criteria comprises a position boundary.

4. A method in accordance with claim 3 wherein said corrected position vector is a vector corresponding to a location and heading on a road segment most proximate the first position vector.

5. A method in accordance with claim 3 further comprising a step of:

measuring a distance traversed; and

wherein said plurality of comparisons is associated with the distance traversed.

6. A method in accordance with claim 3 wherein said corrected position vector is different than said road segment position vector.

7. A method in accordance with claim 6 wherein said corrected position vector corresponds to the first position vector.

8. A method in accordance with claim 3 further comprising a step of:

measuring a distance traversed; and

wherein said step of determining at least a second position vector from at least a second sensory system comprises a step of determining at least a second present estimated position vector different than the at least second position vector, and wherein the at least second present estimated position vector is updated to an alternative position vector if the first position vector matches the road segment position vector within a predetermined boundary for the distance traversed.

9. A method in accordance with claim 8 wherein the alternative position vector corresponds to said road segment position vector.

10. A method in accordance with claim 8 wherein the alternative position vector corresponds to a position different than said road segment position vector.

11. A method in accordance with claim 10 wherein the alternative position vector corresponds to said first position vector.

12. A method in accordance with claim 1 wherein said predetermined criteria comprises a variance.

13. A system of position estimation for determining position vectors associated with road segments on a map using competitive sensory position map-matching comprising:

first sensory means for providing a first position vector;

at least a second sensory means for providing at least a second position vector; and

means for comparing the first position vector and the at least second position vector to a road segment position vector corresponding to a road segment location determined by a reference position vector, and updating the reference position vector to correspond to a corrected position vector if at least one of the first position vector and the at least second position vector matches the road segment position vector within a predetermined criteria for a plurality of comparisons.

14. A system in accordance with claim 13 wherein said reference position vector is initially determined by utilizing at least one of the first position vector, the second position vector, and a position vector determined from a map database referenced by road intersection position coordinates and an associated road segment heading.

15. A system in accordance with claim 13 wherein said predetermined criteria comprises a position boundary.

16. A system in accordance with claim 15 wherein said means for updating the reference position vector to correspond to a corrected position vector updates the reference position vector to a vector corresponding to a location and heading on a road segment most proximate the first position vector.

17. A system in accordance with claim 15 further comprising a step of:

means for measuring a distance traversed; and

wherein said plurality of comparisons is associated with the distance traversed.

18. A system in accordance with claim 15 wherein said corrected position vector is different than said road segment position vector.

19. A system in accordance with claim 15 further comprising a step of:

means for measuring a distance traversed; and

wherein said at least a second position vector provided by the at least a second sensory system comprises means for determining at least a second present estimated position vector different than the at least second position vector, and wherein the at least second present estimated position vector is updated to an alternative position vector if the first position vector matches the road segment position vector within a predetermined boundary for the distance traversed.

20. A system in accordance with claim 19 wherein the alternative position vector corresponds to said road segment position vector.

21. A system in accordance with claim 19 wherein the alternative position vector corresponds to a position different than said road segment position vector.

22. A system in accordance with claim 21 wherein the alternative position vector corresponds to said first position vector.

23. A system in accordance with claim 13 wherein said predetermined criteria comprises a variance.

24. A system in accordance with claim 13 whereto said corrected position vector corresponds to the first position vector.

25. A method of map-matching comprising the steps of:

providing a map comprising road segments;

providing a reference position vector indicative of a vehicle'"'"'s position associated with the provided map;

determining a road segment position vector corresponding to a road segment located on the map dependent on the provided reference position vector;

determining a first position vector from a first sensory system;

determining a second position vector from a second sensory system; and

replacing the reference position vector with a new reference position vector dependent on the position vector of the first and second position vectors that matches the road segment position vector within a predetermined criteria for a plurality of comparisons.