Navigation system for vehicles

• US 6,018,697 A
• Filed: 12/11/1996
• Issued: 01/25/2000
• Est. Priority Date: 12/26/1995
• Status: Expired due to Term

• Current Assignee: Aisin AW Company Limited (Aisin Corp.)
• Original Assignee: Aisin AW Company Limited (Aisin Corp.)
• Inventors: Morimoto, Kyomi, Yanagikubo, Takeshi
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US08/764,010
• Time in Patent Office: 1,140 Days
• Field of Search: 340/995, 340/990, 340/988, 701/209, 701/208, 701/207, 701/210, 701/211, 701/201, 73/178 R
• US Class Current: 701/209
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3644 Landmark guidance, e.g. using POIs or conspicuous other objects
• CPC Class Codes: G01C 21/3647 Guidance involving output of stored or live camera images or video streams
• CPC Class Codes: G01C 21/3655 Timing of guidance instructions
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/096838 where the user preferences are taken into account or the user selects one route out of a plurality
• CPC Class Codes: G08G 1/096844 where the complete route is dynamically recomputed based on new data
• CPC Class Codes: G08G 1/096861 where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
• CPC Class Codes: G08G 1/096866 where the complete route is shown to the driver
• CPC Class Codes: G08G 1/096872 where instructions are given per voice

Abstract

In the disclosed navigation system, a distinctive object at an intersection or branch point already registered is recognized by image recognition in order that necessary action can be taken at the earliest opportunity by obtaining information as to the road on which the vehicle has advanced from the intersection or the branch point. The road on which the vehicle has advanced at the intersection or branch point is determined from the direction of relative movement of the distinctive object in the recognized image. Also, in order that easily understandable guidance can be provided even when intersections are in close proximity and even when a distinctive object is newly installed or removed at the intersection, assuming that the present position as detected is on the predetermined and guided route, a guidance message is composed by reading data relating to a point on the guided route, ahead of the present position, in the data stored in the information storage unit. The imaging is of the area of the road ahead using a video camera and the position of the distinctive object recognized in the image relative to the guidance point is determined and the preset guidance message is corrected based on that determination.

Claims

1. A navigation system for providing an operator of a vehicle with route guidance information, comprising:

information storage means for storing road guidance data and identification data for identification of a distinctive object registered for an intersection or branch point;

imaging means for obtaining an image of a road area ahead of the vehicle;

image recognition means for recognizing the distinctive object registered for the intersection or branch point in the obtained image;

road identification means for detecting relative direction of movement of said distinctive object in the image and, based on said detected relative direction of movement, for identifying a road travelled by the vehicle in exiting the intersection or branch point; and

output means for outputting route guidance information to the operator, in the form of a visual display and/or a voice message, based on the identified road.

2. A navigation system for a vehicle providing an operator of the vehicle with route guidance to an input destination along a route set in advance, comprising:

information storage means for storing road guidance data and data for identification of a distinctive object at an intersection or branch point;

imaging means for obtaining an image of a road area ahead of the vehicle;

image recognition means for recognizing the distinctive object at the intersection or branch point by comparison of the image with said identification data;

road identification means for detecting relative direction of movement of said distinctive object in the image and, based on said detected relative direction of movement, for determining if the road travelled by the vehicle exiting the intersection or branch point is on the route set in advance; and

output means for outputting route guidance information to the operator, in the form of a visual display and/or a voice message, based on the identified road.

3. A navigation system for a vehicle providing an operator of the vehicle with route guidance to an input destination along a route set in advance, comprising:

information storage means for storing road guidance data and identification data for identification of a distinctive object located at an intersection or branch point;

output means for communicating guidance information to a driver of the vehicle;

imaging means for obtaining an image of a road area ahead of the vehicle;

image recognition means for recognizing the distinctive object at the intersection or branch point in the obtained image; and

guidance control means for detecting relative direction of movement of the recognized distinctive object in the obtained image, for judging, based on the detected relative direction of movement, if the vehicle has advanced from said intersection or branch point along the route set in advance and for determining guidance information based on the judgement; and

output means for outputting, to the operator in the form of a visual display and/or a voice message, the guidance information determined by the guidance control means.

4. A navigation system according to claim 3 further comprising guidance message setting means for composing guidance information to be next output responsive to a determination that the vehicle is advancing along the set route.

5. A navigation system according to claim 3 wherein, if the vehicle is determined to have deviated from the route set in advance, said output means so notifies the driver.

6. A navigation system according to claim 3 further comprising:

present position detecting means for detecting the present location of the vehicle; and

re-search means for, responsive to a determination that the vehicle has deviated from the route set in advance, searching said road guidance data to determine a new optimal route from the detected present location to the destination.

7. A navigation system according to claim 3 further comprising:

present position detecting means for detecting the present location of the vehicle, and wherein;

said direction detection means identifies the road taken by the vehicle in advancing beyond the intersection; and

said guidance control means outputs guidance information to said output means for the road identified by said advancing direction detection means.

8. A navigation system according to claim 7, wherein, responsive to a judgement that the identified road is not on the route set in advance, said guidance control means additionally outputs a message to notify the driver of the fact that the vehicle has deviated from the route set in advance.

10. A navigation system according to claim 7, wherein said image recognition means determines position coordinates for the recognized distinctive object at the intersection or branch point, and said advancing direction detection means determines the relative direction of movement of the object in the obtained image based on the determined position coordinates.

13. A navigation system according to claim 10, wherein said image recognition means calculates a moving vector from difference between at least two coordinates of said distinctive object and determines relative direction of movement of the distinction object in the image from said moving vector.

15. A navigation system according to claim 10, wherein said information storage means stores a table of position coordinates of said distinctive object with respect to each road connecting to the intersection or branch point, and wherein said advancing road identification means refers to said table to identify the road taken by the vehicle in advancing beyond the intersection or branch point.

9. A navigation system for a vehicle, comprising:

present position detecting means for detecting the present location of the vehicle;

input means for inputting a destination or transit point and a departure point;

information storage means for storing road guidance data and identification data for identification of a distinctive object at an intersection or branch point;

output means for outputting guidance information, in the form of a visual display and/or a voice message, to provide route guidance;

route searching means for searching said road guidance data to determine an optimal route from the present location of the vehicle, as detected by said present position detecting means or from the departure point input by said input means, to a destination or a transit point input by said input means, based on data stored in said information storage means;

guidance control means for providing route guidance for said optimal route by execution of a navigation program utilizing data stored in said information storage means;

imaging means for obtaining an image of a road area ahead of the vehicle;

image recognition means for recognizing the distinctive object at the intersection or branch point in the obtained image;

advancing road identification means for determining the relative direction of movement of the recognized distinctive object within the obtained image and for identifying a road taken beyond the intersection or branch point based on the determined relative direction of movement; and

judging means for judging if the identified road is on the optimal route;

wherein, responsive to a judgement that the identified road is on the optimal route, said route searching means repeats said searching to determine a new optimal route; and

wherein said guidance control means provides route guidance based on the determined new route or on the identified road.

11. A navigation system according to claim 9, wherein said image recognition means determines position coordinates for the recognized distinctive object at the intersection or branch point, and said advancing direction detection means determines the relative direction of movement of the object in the obtained image based on the determined position coordinates.

12. A navigation system according to claim 11, wherein said image recognition means calculates a moving vector from difference between at least two coordinates of said distinctive object and determines relative direction of movement of the distinction object in the image from said moving vector.

14. A navigation system according to claim 11, wherein said information storage means stores a table of position coordinates of said distinctive object with respect to each road connecting to the intersection or branch point, and wherein said advancing road identification means refers to said table to identify the road taken by the vehicle in advancing beyond the intersection or branch point.

16. A navigation system for a vehicle, comprising:

present position detecting means for detecting the present location of the vehicle;

input means for inputting information for calculating an optimal route;

output means for outputting route guidance;

information storage means for storing data for providing route guidance;

route setting means for setting an optimal route based on the information inputted by said input means and on the data stored in said information storage means;

route storage means for storing the route set by said route setting means;

guidance control means for outputting guidance information to said output means along the route set by said route setting means;

imaging means for obtaining an image of a road area ahead of the vehicle; and

image recognition means for recognizing a distinctive object in the obtained image;

first judging means for judging if the present location detected by said present position detecting means is on the set optimal route, said guidance control means reading data relating to a guidance point ahead of the detected present location from said information storage means, responsive to a judgement that the detected present location is on the set optimal route;

guidance message setting means for composing a set guidance message relating to the guidance point based on the data read by said guidance control means;

second judging means for judging the position of the distinctive object recognized by said image recognition means relative to the guidance point; and

guidance information correcting means for correcting the set guidance message based on the judgment of said second judging means, the corrected guidance message being output by said output means as route guidance.

17. A navigation system according to claim 16, wherein said guidance information correcting means corrects the set guidance message by adding an additional expression to the set guidance message.

19. A navigation system according to claim 16, wherein said guidance information correcting means corrects the set guidance message in accordance with the judgement of said second judging means.

20. A navigation system according to claim 16, wherein said guidance expression setting means composes a guidance message in accordance with distance between the guidance point and the detected present location.

22. A navigation system according to claim 16, wherein said guidance control means outputs the guidance message set by said guidance expression setting means at a point a predetermined distance in advance of the guidance point.

24. A navigation system according to claim 22, wherein said guidance control means compares a first distance between the detected present location of the vehicle and the guidance point with a second distance between the recognized distinctive object and the detected present position and, if the difference between said first and second distances is not within a predetermined range, the second distance is used to set a point for output of the guidance message.

26. A navigation system according to claim 16, wherein data relating to the distinctive object is correlated with the data relating to the guidance point in said storage unit and, when a distinctive object for which no data is stored is newly recognized by said image recognition means, data relating to the newly recognized distinctive object is written into said storage unit.

28. A navigation system according to claim 16, wherein said distinctive object is a traffic signal.

30. A navigation system according to claim 16, wherein said distinctive object is a traffic sign.

32. A navigation system according to claim 30, wherein said traffic sign provides driving lane information.

34. A navigation system according to claim 16, wherein said distinctive object is a store signboard.

18. A navigation system for a vehicle, comprising:

present position detecting means for detecting the present location of the vehicle;

input means for inputting information for determining an optimal route;

output means for outputting route guidance;

information storage means for storing data for providing route guidance;

route setting means for setting an optimal route based on the information input by said input means and on the data stored in said information storage means;

route storage means for storing the route set by said route setting means;

guidance control means for outputting guidance information to said output means along the route set by said route setting means;

imaging means for obtaining an image of a road area ahead of the vehicle;

image recognition means for recognizing a distinctive object in the obtained image;

first judging means for judging if the present location detected by said present position detecting means is on the set optimal route, said guidance control means reading data relating to a guidance point ahead of the present location from said information storage means responsive to a judgement that the detected present location is on the set optimal route;

guidance message setting means for composing and setting a guidance message relating to the guidance point;

second judging means for judging the position of the distinctive object recognized by said image recognition means relative to the guidance point; and

guidance message output position determining means for determining a location for output of the set guidance message, based on the judgment of said second judging means.

21. A navigation system according to claim 18, wherein said guidance expression setting means composes a guidance message in accordance with distance between the guidance point and the detected present location.

23. A navigation system according to claim 18, wherein said guidance control means outputs the guidance message set by said guidance expression setting means at a point a predetermined distance in advance of the guidance point.

25. A navigation system according to claim 23, wherein said guidance control means compares a first distance between the detected present location of the vehicle and the guidance point with a second distance between the recognized distinctive object and the detected present position and, if the difference between said first and second distances is not within a predetermined range, the second distance is used to set a point for output of the guidance message.

27. A navigation system according to claim 18, wherein data relating to the distinctive object is correlated with the data relating to the guidance point in said storage unit and, when a distinctive object for which no data is stored is newly recognized by said image recognition means, data relating to the newly recognized distinctive object is written into said storage unit.

29. A navigation system according to claim 18, wherein said distinctive object is a traffic signal.

31. A navigation system according to claim 18, wherein said distinctive object is a traffic sign.

33. A navigation system according to claim 31, wherein said traffic sign provides driving lane information.

35. A navigation system according to claim 18, wherein said distinctive object is a store signboard.