Patent EP0359287A2 successfully refreshed from Google Patents.
EP0359287A2
Expired / Lapsed
EP
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Navigation system and method using map data
Assignee: Hitachi Ltd
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Filing: 1989-09-15
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Granted: —
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Expires: 2009-09-15
Abstract
Abstract In a navigation system which has sensors for detecting a running distance, an azimuth, etc. of a vehicle, and a memory for storing map data, a probability density of a position of the vehicle is calculated on the basis of the sensor outputs and the map data for each of quantization units with which a probability computation determined by detection accuracies of the sensors and quantization of the map data can be executed. In addition, a final stage calculation of DP matching between trajectory data obtained from the. on-board sensor data from a start point of the vehicle till a current time and a candidate route estimated from the road map data is iteratively executed, whereby a plurality of estimative vehicular positions and uncertainties (costs) corresponding to the respective estimative positions are iteratively evaluated, and a correct vehicular position is estimated by selecting at least one estimative vehicular position of low uncertainty (cost).
Inventors
- 👤 Fuminobu Okurayama-Furatto Nr. 406 Komura
- 👤 Yoshikazu Hirayama
- 👤 Koichi Hakuraku-Hausu Nr. 602 Homma
- 👤 Makoto Hitachi-Saginuma-Ryo Kato
- 👤 Takanori Shibata
- 👤 Yoji Murata Apt. Nr. 13 Matsuoka
- 👤 Akira Hitachi-Saginuma-Ryo Kagami
- 👤 Michitaka Kosaka
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 10:18
CPC Classifications
G; G01; G01C; G01C21/00; G01C21/26; G01C21/28; G01C21/30
Claims Analysis
Total Claims: 44
Claim 1
Independent Claim
166 words
A navigation method using map data in a system which has at least one of first detection means for detecting a running distance of a vehicle and second detection means for detecting an azimuth of the vehicle, a memory for storing the map data, a data processor, and a buffer memory, comprising: the step of detecting at least one of the running distance and the azimuth by the corresponding detection means; the step of setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; the step of calculating a probability density of a position of the vehicle for each of the quantization units by said data processor on the basis of the map data and a detected value which has been obtained by said step of detecting at least one of the running distance and the azimuth; and the step of storing the calculated probability density in said buffer memory.
Claim 2
Dependent Claim
166 words
A navigation method using map data in a system which has at least one of first detection means for detecting a running distance of a vehicle and second detection means for detecting an azimuth of the vehicle, a memory for storing the map data, a data processor, and a buffer memory, comprising: the step of detecting at least one of the running distance and the azimuth by the corresponding detection means; the step of setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; the step of calculating a probability density of a position of the vehicle for each of the quantization units by said data processor on the basis of the map data and a detected value which has been obtained by said step of detecting at least one of the running distance and the azimuth; and the step of storing the calculated probability density in said buffer memory.
Claim 3
Dependent Claim
58 words
A navigation method using map data as defined in Claim 1, wherein the probability density of the vehicular position is a conditioned probability density of the vehicular position at a current time as is conditioned by the detected data which has been obtained till the current time since a start time of the calculation of the vehicular position.
Claim 4
Dependent Claim
60 words
A navigation method using map data as defined in Claim 1, wherein the probability density of the vehicular position is a conditioned probability density of a vehicular position series in an identical time interval as is conditioned by the detected data which has been obtained till a current time since a start time of the calculation of the vehicular position.
Claim 5
Dependent Claim
63 words
A navigation method using map data as defined in Claim 1, wherein said step of calculating the probability density of the vehicular position comprises the step of further calculating a conditioned probability density of the position at a next time as is conditioned by the position at a current time, by the use of the map data with or without the detected data.
Claim 6
Dependent Claim
40 words
A navigation method using map data as defined in Claim 1, further comprising the step of displaying on an image display device an image which is prepared from the map data and the calculated probability density of the vehicular position.
Claim 7
Dependent Claim
34 words
A navigation method using map data as defined in Claim 1, further comprising the step of producing voice which is synthesized from the map data and the calculated probability density of the vehicular position.
Claim 8
Dependent Claim
49 words
A navigation method using map data as defined in Claim 1, comprising the step of receiving an initial position at a start time of the calculation of the vehicular position, and the step of calculating an initial probability density in said data processor on the basis ofthe initial position.
Claim 9
Dependent Claim
36 words
A navigation method using map data as defined in Claim 1, wherein a plurality of sorts of devices are disposed as both or either of the running distance detection means and the vehicular azimuth detection means.
Claim 10
Dependent Claim
23 words
A navigation method using map data as defined in Claim 1, wherein an astronomical sensor is employed as the vehicular azimuth detection means.
Claim 11
Dependent Claim
32 words
A navigation method using map data as defined in Claim 8, comprising the step of sensing abnormal detection data by comparing output data items of the plurality of sorts of detection means.
Claim 12
Dependent Claim
44 words
A navigation method using map data as defined in Claim 1, wherein besides said detection means, at least one third detection means for detecting data on the vehicular position is provided, so as to be used for said step of calculating the probability density.
Claim 13
Dependent Claim
31 words
A navigation method using map data as defined in Claim 11, wherein a sensor for an inclination angle of a body of the vehicle is employed as said third detection means.
Claim 14
Dependent Claim
45 words
A navigation method using map data as defined in Claim 11, comprising the step of sensing any abnormality by comparing the probability density of the vehicular position calculated with said first and second detection means and the probability density calculated with said third detection means.
Claim 15
Dependent Claim
45 words
A navigation method using map data as defined in Claim 1, wherein the map data includes locations, connective relations and attributes on nodes and links constituting roads, and besides, all or some of speed limits, diversion probabilities of traffic flows and other auxiliary information items.
Claim 16
Dependent Claim
25 words
A navigation method using map data as defined in Claim 14, wherein the auxiliary information items can be externally written according to purposes of users.
Claim 17
Dependent Claim
37 words
A navigation method using map data as defined in Claim 14, wherein the auxiliary information items are stored in a rewritable memory, and the other fixed information items are stored in a ROM or a rewritable memory.
Claim 18
Dependent Claim
35 words
A navigation method using map data as defined in Claim 14, wherein some of the auxiliary information items are map data items which are endowed with error information of said detection means dependent upon places.
Claim 19
Dependent Claim
29 words
A navigation method using map data as defined in Claim 4, wherein the conditioned probability density is calculated as taking non-zero values on only roads in the map data.
Claim 20
Dependent Claim
47 words
A navigation method using map data as defined in Claim 4, comprising the step of changing-over whether the conditioned probability density is calculated as taking non-zero values on only roads in the map data or it is calculated as taking the non-zero values also in other places.
Claim 21
Dependent Claim
163 words
A location method for a vehicle in a system which has at least one of first detection means for detecting a running distance of the vehicle and second detection means for detecting an azimuth of the vehicle, and a memory for storing map data, comprising: the step of detecting at least one of the running distance and the azimuth by the corresponding detection means; the step of setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; the step of calculating a probability density of a position of the vehicle for each of the quantization units by calculation means carried on the vehicle, and on the basis of the map data and a detected value which has been obtained by said step of detecting at least one of the running distance and the azimuth; and the step of sending the calculated probability density to a center device.
Claim 22
Dependent Claim
163 words
A location method for a vehicle in a system which has at least one of first detection means for detecting a running distance of the vehicle and second detection means for detecting an azimuth of the vehicle, and a memory for storing map data, comprising: the step of detecting at least one of the running distance and the azimuth by the corresponding detection means; the step of setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; the step of calculating a probability density of a position of the vehicle for each of the quantization units by calculation means carried on the vehicle, and on the basis of the map data and a detected value which has been obtained by said step of detecting at least one of the running distance and the azimuth; and the step of sending the calculated probability density to a center device.
Claim 23
Dependent Claim
44 words
A location method for a vehicle as defined in Claim 20, wherein said at least one detection means is carried on the vehicle, and the output thereof is sent to said center device so as to calculate the vehicular position in said center device.
Claim 24
Dependent Claim
26 words
A location method for a vehicle as defined in Claim 21, wherein the vehicular position calculated by said center device is sent back to the vehicle.
Claim 25
Dependent Claim
28 words
A location method for a vehicle as defined in Claim 21, wherein said center device is endowed with some or all of processing functions of said detection means.
Claim 26
Dependent Claim
40 words
A location method for a vehicle as defined in Claim 21, further comprising: the step of storing an estimated value of the vehicular position based on the calculated probability density, in a memory, and retrieving and displaying the estimated value.
Claim 27
Dependent Claim
32 words
A location method for a vehicle as defined in Claim 21, further comprising: the step of displaying the calculated probability density on an image display device in superposition on the map data.
Claim 28
Dependent Claim
156 words
A navigation method using map data in a system which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: the step of sensing a speed and an azimuth of a vehicle by means of said speed sensor and said vehicular azimuth sensor, respectively; the step of estimating a current estimative position of the vehicle on the basis of the sensed speed and azimuth and the map data; the step of storing coordinates of a plurality of places on a road as the estimated current positions of the vehicle, together with uncertainties (costs) corresponding to the respective estimated vehicular positions; and the step of iteratively updating the estimated vehicular position by evaluating an estimative vehicular position at a next time and an uncertainty corresponding thereto, from the sensed speed and azimuth and the road map data on the basis of the estimated current position and the uncertainty corresponding thereto.
Claim 29
Dependent Claim
156 words
A navigation method using map data in a system which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: the step of sensing a speed and an azimuth of a vehicle by means of said speed sensor and said vehicular azimuth sensor, respectively; the step of estimating a current estimative position of the vehicle on the basis of the sensed speed and azimuth and the map data; the step of storing coordinates of a plurality of places on a road as the estimated current positions of the vehicle, together with uncertainties (costs) corresponding to the respective estimated vehicular positions; and the step of iteratively updating the estimated vehicular position by evaluating an estimative vehicular position at a next time and an uncertainty corresponding thereto, from the sensed speed and azimuth and the road map data on the basis of the estimated current position and the uncertainty corresponding thereto.
Claim 30
Dependent Claim
107 words
A navigation method using map data in a system which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: the step of sensing a speed and an azimuth of a vehicle by means of said speed sensor and said vehicular azimuth sensor, respectively; the DP matching calculation step of estimating a current estimative position of the vehicle and a corresponding uncertainty (cost) on the basis of the sensed speed and azimuth and the map data; and the step of storing coordinates of the estimated current position of the vehicle and the uncertainty (cost) corresponding to the estimated vehicular position.
Claim 31
Dependent Claim
107 words
A navigation method using map data in a system which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: the step of sensing a speed and an azimuth of a vehicle by means of said speed sensor and said vehicular azimuth sensor, respectively; the DP matching calculation step of estimating a current estimative position of the vehicle and a corresponding uncertainty (cost) on the basis of the sensed speed and azimuth and the map data; and the step of storing coordinates of the estimated current position of the vehicle and the uncertainty (cost) corresponding to the estimated vehicular position.
Claim 32
Dependent Claim
41 words
A navigation method using map data as defined in Claim 26, further comprising the step of selecting the estimated vehicular position whose uncertainty is lower among the stored uncertainties, as a typical point, and displaying it on an image display device.
Claim 33
Dependent Claim
41 words
A navigation method using map data as defined in Claim 27, further comprising the step of selecting the estimated vehicular position whose uncertainty is lower among the stored uncertainties, as a typical point, and displaying it on an image display device.
Claim 34
Dependent Claim
58 words
A navigation method using map data as defined in Claim 26, wherein said step of iteratively updating the estimated vehicular position includes a final stage calculation of DP matching between route data obtained from the on-board sensor data from a running start point till a current time and at least one candidate route on the road map data.
Claim 35
Dependent Claim
81 words
A navigation method using map data as defined in Claim 26, wherein the step of storing the uncertainties (costs) corresponding to the respective estimated vehicular positions includes the step of storing a cost at DP matching calculation stages of predetermined number on a minimum cost route leading to each of the estimated vehicular positions, and the step of subtracting the cost concerning the initial stages of the predetermined number from a cost concerning the estimated vehicular position at a next time.
Claim 36
Dependent Claim
81 words
A navigation method using map data as defined in Claim 27, wherein the step of storing the uncertainties (costs) corresponding to the respective estimated vehicular positions includes the step of storing a cost at DP matching calculation stages of predetermined number on a minimum cost route leading to each of the estimated vehicular positions, and the step of subtracting the cost concerning the initial stages of the predetermined number from a cost concerning the estimated vehicular position at a next time.
Claim 37
Dependent Claim
148 words
A navigation system using map data, which has at least one of first detection means for detecting a running distance of a vehicle and second detection means for detecting an azimuth of the vehicle, a memory for storing the map data, a data processor, and a buffer memory, comprising: means for detecting at least one of the running distance and the azimuth by the corresponding detection means; means for setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; and means for calculating a probability density of a position of the vehicle for each of the quantization units by said data processor on the basis of the map data and a detected value which has been obtained by said means for detecting at least one of the running distance and the azimuth.
Claim 38
Dependent Claim
148 words
A navigation system using map data, which has at least one of first detection means for detecting a running distance of a vehicle and second detection means for detecting an azimuth of the vehicle, a memory for storing the map data, a data processor, and a buffer memory, comprising: means for detecting at least one of the running distance and the azimuth by the corresponding detection means; means for setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; and means for calculating a probability density of a position of the vehicle for each of the quantization units by said data processor on the basis of the map data and a detected value which has been obtained by said means for detecting at least one of the running distance and the azimuth.
Claim 39
Dependent Claim
153 words
A location system for a vehicle, which has at least one of first detection means for detecting a running distance of the vehicle and second detection means for detecting an azimuth of the vehicle, and a memory for storing the map data, comprising: means for detecting at least one of the running distance and the azimuth by the corresponding detection means; means for setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; means carried on the vehicle for calculating a probability density of a position of the vehicle for each of the quantization units on the basis of the map data and a detected value which has been obtained by said means for detecting at least one of the running distance and the azimuth; and means for sending the calculated probability density to a center device.
Claim 40
Dependent Claim
153 words
A location system for a vehicle, which has at least one of first detection means for detecting a running distance of the vehicle and second detection means for detecting an azimuth of the vehicle, and a memory for storing the map data, comprising: means for detecting at least one of the running distance and the azimuth by the corresponding detection means; means for setting quantization units with which a probability computation determined by a detection accuracy of said detection means and quantization of the map data can be executed; means carried on the vehicle for calculating a probability density of a position of the vehicle for each of the quantization units on the basis of the map data and a detected value which has been obtained by said means for detecting at least one of the running distance and the azimuth; and means for sending the calculated probability density to a center device.
Claim 41
Dependent Claim
147 words
A navigation system using map data which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: means for sensing a speed and an azimuth of a vehicle by said speed sensor and said vehicular azimuth sensor, respectively; means for estimating a current estimative position of the vehicle on the basis of the sensed speed and azimuth and the map data; means for storing coordinates of a plurality of places on a road as the estimated current positions of the vehicle, together with uncertainties (costs) corresponding to the respective estimated vehicular positions; and means for iteratively updating the estimated vehicular position by evaluating an estimative vehicular position at a next time and an uncertainty corresponding thereto, from the sensed speed and azimuth and the road map data on the basis of the estimated current position and the uncertainty corresponding thereto.
Claim 42
Dependent Claim
147 words
A navigation system using map data which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: means for sensing a speed and an azimuth of a vehicle by said speed sensor and said vehicular azimuth sensor, respectively; means for estimating a current estimative position of the vehicle on the basis of the sensed speed and azimuth and the map data; means for storing coordinates of a plurality of places on a road as the estimated current positions of the vehicle, together with uncertainties (costs) corresponding to the respective estimated vehicular positions; and means for iteratively updating the estimated vehicular position by evaluating an estimative vehicular position at a next time and an uncertainty corresponding thereto, from the sensed speed and azimuth and the road map data on the basis of the estimated current position and the uncertainty corresponding thereto.
Claim 43
Dependent Claim
100 words
A navigation system using map data which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: means for sensing a speed and an azimuth of a vehicle by said speed sensor and said vehicular azimuth sensor, respectively; the DP matching calculation means for estimating a current estimative position of the vehicle and a corresponding uncertainty (cost) on the basis of the sensed speed and azimuth and the map data; and means for storing coordinates of the estimated current position of the vehicle and the uncertainty (cost) corresponding to the estimated vehicular position.
Claim 44
Dependent Claim
100 words
A navigation system using map data which has a speed sensor, a vehicular azimuth sensor, a road map data memory, and a processor, comprising: means for sensing a speed and an azimuth of a vehicle by said speed sensor and said vehicular azimuth sensor, respectively; the DP matching calculation means for estimating a current estimative position of the vehicle and a corresponding uncertainty (cost) on the basis of the sensed speed and azimuth and the map data; and means for storing coordinates of the estimated current position of the vehicle and the uncertainty (cost) corresponding to the estimated vehicular position.
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