Navigation apparatus
First Claim
1. A navigation apparatus comprising:
- a sensor for detecting a behavior of a vehicle;
a positioning means for estimating the behavior of the vehicle on a basis of a signal from said sensor;
a road-map-data storage means for storing road data;
a road matching means for comparing positioning data sent thereto, as an estimation result, from said positioning means with the road data read from said road-map-data storage means so as to identify a current position of the vehicle, and for judging whether the identification is placed in a matching state in which the current position is identified as being on a registered road defined by the road data, in a pending state in which whether or not the current position is on a registered road is being judged, or in a free state in which the current position is identified as being off any registered road, and then outputting matching result data indicating the state of the identification;
an unregistered road detecting means for setting up a detection start point and a detection end point for an unregistered road on registered roads which are respectively located before and after sections in which the matching result data from said road matching means indicates that the state of the identification is the free state, respectively, the matching result data indicating that the state of the identification is the matching state when the vehicle travels along each of the registered roads, for performing a coordinate transformation on a traveling path which is created on a basis of the positioning data from said positioning means and which extends from said detection start point to said detection end point in a coordinate system so that a start point of the traveling path has coordinates which match with coordinates of said detection start point and an end point of the traveling path has coordinates which match with coordinates of said detection end point, and for detecting coordinates of the unregistered road from data of the coordinate-transformed traveling path which does not overlap any registered road; and
a road data generating means for creating road data about the unregistered road on a basis of the coordinates of the unregistered road detected by said unregistered road detecting means, and for storing them in said road-map-data storage means.
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Accused Products
Abstract
A navigation apparatus includes an unregistered road detecting means for setting up a detection start point and a detection end point for an unregistered road on registered roads which are respectively located before and behind sections in which matching result data indicates a free state, respectively, the matching result data indicating a matching state when the vehicle is traveling each of the registered roads, for performing a coordinate transformation on a traveling path which is created from positioning data and which is extending between the two points so that the traveling path has coordinates which match with the coordinates of a registered road between them, and for detecting the coordinates of the unregistered road from a portion of the coordinate-transformed traveling path which does not overlap any registered road, and a road data generating means for creating road data about the unregistered road from the coordinates of the unregistered road.
29 Citations
17 Claims
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1. A navigation apparatus comprising:
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a sensor for detecting a behavior of a vehicle; a positioning means for estimating the behavior of the vehicle on a basis of a signal from said sensor; a road-map-data storage means for storing road data; a road matching means for comparing positioning data sent thereto, as an estimation result, from said positioning means with the road data read from said road-map-data storage means so as to identify a current position of the vehicle, and for judging whether the identification is placed in a matching state in which the current position is identified as being on a registered road defined by the road data, in a pending state in which whether or not the current position is on a registered road is being judged, or in a free state in which the current position is identified as being off any registered road, and then outputting matching result data indicating the state of the identification; an unregistered road detecting means for setting up a detection start point and a detection end point for an unregistered road on registered roads which are respectively located before and after sections in which the matching result data from said road matching means indicates that the state of the identification is the free state, respectively, the matching result data indicating that the state of the identification is the matching state when the vehicle travels along each of the registered roads, for performing a coordinate transformation on a traveling path which is created on a basis of the positioning data from said positioning means and which extends from said detection start point to said detection end point in a coordinate system so that a start point of the traveling path has coordinates which match with coordinates of said detection start point and an end point of the traveling path has coordinates which match with coordinates of said detection end point, and for detecting coordinates of the unregistered road from data of the coordinate-transformed traveling path which does not overlap any registered road; and a road data generating means for creating road data about the unregistered road on a basis of the coordinates of the unregistered road detected by said unregistered road detecting means, and for storing them in said road-map-data storage means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A navigation apparatus comprising:
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a sensor for detecting a behavior of a vehicle; a positioning section for estimating a position of the vehicle on a basis of the behavior detected by said sensor; a road-map-data storage section configured to store registered road data; a road matching section configured to compare the position of the vehicle with the registered road data, and determine a vehicle state based on the comparison, wherein the vehicle state is in a matching state when the road matching section determines that the position of the vehicle is on a registered road, and the vehicle state is in a free state when the road matching section determines that the position of the vehicle is not on a registered road; an unregistered road detection section configured to create, a detection start point located on the registered road before a time when the vehicle state is in the free state, a traveling path including an interpolation point located on an unregistered road during a time when the vehicle state is in the free state, and a detection end point located on the registered road after a time when the vehicle state has changed to the matching state from the free state; and a road data generating section configured to create new road data on a basis of the interpolation point of the traveling path. - View Dependent Claims (16, 17)
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Specification