EP0471405A1
Expired / Lapsed
EP
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Method of determining the position of a vehicle, arrangement for determining the position of a vehicle, as well as a vehicle provided with such an arrangement
Assignee: Koninklijke Philips NV
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Filing: 1991-08-06
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Granted: —
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Expires: 2011-08-06
Abstract
Abstract For the determination of the position of a vehicle, navigation parameters are measured, with which periodically dead reckoning coordinates are calculated, which are compared to topographical and traffic-technical information stored in a global data base. A local navigation data base is being kept and updated, containing relevant sub-information from the global data base. Using the dead reckoning coordinates test steps are performed on route segments from the local navigation data base, on the basis of which route segments forming possibly driven routes, are stored in a data structure and pseudo-segments are derived from consecutively calculated dead reckoning coordinates which form a pseudo-route and are stored in a further data structure. By comparing the route segments in the data structure and the pseudo-segments in the further data structure a well-founded correction vector for the dead reckoning coordinates is periodically determined.
Inventors
- 👤 Hans Gerard Marie Hermans
- 👤 Willem Van Der Gugten
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-31 18:51
CPC Classifications
G; G01; G01S; G01S17/00; G01S17/02; G01S17/06; G01C; G01C21/00; G01C21/26; G01C21/28; G01C21/30
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
96 words
A method of determining the position of a vehicle, in which navigation parameters are measured with which periodically dead reckoning coordinates are calculated, which are compared to topographical and traffic-technical information stored in a global data base, characterized, in that, a local navigation data base LND is kept and updated with relevant sub-information from the global data base, whereby, using the dead reckoning coordinates, test steps are performed on route segments from the local navigation data base, on the basis of which route segments which form possibly driven routes, are stored in a data structure PSD.
Claim 2
Independent Claim
96 words
A method of determining the position of a vehicle, in which navigation parameters are measured with which periodically dead reckoning coordinates are calculated, which are compared to topographical and traffic-technical information stored in a global data base, characterized, in that, a local navigation data base LND is kept and updated with relevant sub-information from the global data base, whereby, using the dead reckoning coordinates, test steps are performed on route segments from the local navigation data base, on the basis of which route segments which form possibly driven routes, are stored in a data structure PSD.
Claim 3
Independent Claim
62 words
A method of determining the position of a vehicle, in which navigation parameters are measured with which periodically dead reckoning coordinates are calculated which are compared to topographical and traffic-technical information stored in a global data base, characterized, in that, pseudo-segments are derived from consecutively calculated dead reckoning coordinates, which form a pseudo-route and are stored in a further data structure DRD.
Claim 4
Independent Claim
62 words
A method of determining the position of a vehicle, in which navigation parameters are measured with which periodically dead reckoning coordinates are calculated which are compared to topographical and traffic-technical information stored in a global data base, characterized, in that, pseudo-segments are derived from consecutively calculated dead reckoning coordinates, which form a pseudo-route and are stored in a further data structure DRD.
Claim 5
Dependent Claim
25 words
A method as claimed in Claim 2, characterized, in that, the pseudo-segments are divided into straight pseudo-segments having a substantially constant direction, and vague pseudo-segments.
Claim 6
Dependent Claim
43 words
A method as claimed in Claim 3, characterized, in that, vague pseudo-segments caused by a curve or a brief deviation from a straight road, are removed from the further data structure DRD, the relevant straight pseudo-segments being replaced by extrapolated, contiguous straight pseudo-segments.
Claim 7
Dependent Claim
28 words
A method as claimed in Claim 3 or 4, characterized, in that, contiguous straight pseudo-segments having substantially the same direction are combined to form one new straight pseudo-segment.
Claim 8
Independent Claim
55 words
A method as claimed in anyone of Claims 2 to 5, characterized, in that, when the further data structure DRD has a degree of occupancy exceeding a first threshold value, that many oldest pseudo-segments are removed from the further data structure DRD that the new degree of occupancy is less than a second threshold value.
Claim 9
Dependent Claim
50 words
A method as claimed in Claim 1, characterized, in that, when the data structure PSD has a degree of occupancy exceeding a third threshold value, that many oldest route segments are removed from the data structure PSD that the new degree of occupancy is less than a fourth threshold value.
Claim 10
Dependent Claim
48 words
A method as claimed in Claim 1 and in anyone of Claims 2 to 6, characterized, in that, by comparing the route segments in the data structure PSD and the pseudo-segments in the further data structure DRD a correction vector for the dead reckoning coordinates is periodically determined.
Claim 11
Dependent Claim
74 words
A method as claimed in Claim 8, characterized, in that, during said comparison, for each possibly driven route from PSD assembled from route segments a branch-translation vector from the pseudo-route is determined on the basis of at least two segment-translation vectors from pseudo-segments making up the pseudo-route, to associated route segments, wherein by means of correlations tests performed on the composite segment-translation vectors a best fitting branch-translation vector is selected as the correction vector.
Claim 12
Dependent Claim
49 words
A method as claimed in Claim 9, characterized, in that, if the segment-translation vectors making up the best fitting branch-translation vector are correlated less than a critical value, the vector which perpendicularly projects the current dead reckoning coordinates onto the nearest route segment is used as the correction vector.
Claim 13
Independent Claim
28 words
A method as claimed in anyone of Claims 8 to 10, characterized, in that, the correction vector is determined each time the vehicle has covered a given distance.
Claim 14
Independent Claim
42 words
A method as claimed in anyone of Claims 8 to 10, characterized, in that, the correction vector is determined each time the data structure PSD and the further data structure DRD both contain a number of segments exceeding a further critical value.
Claim 15
Independent Claim
31 words
A method as claimed in anyone of Claims 8 to 12, characterized, in that, after each correction vector determination the data structure PSD and the further data structure DRD are emptied.
Claim 16
Independent Claim
30 words
A method as claimed in anyone of Claims 8 to 13, characterized, in that, using the correction vector, the dead reckoning coordinates are corrected to form valid actual position coordinates.
Claim 17
Dependent Claim
148 words
An arrangement for determining the position of a vehicle, including a memory for storing a global data base containing topographical and traffic-technical information and a processor programmed to calculate periodically, on the basis of measured navigation-parameters, dead reckoning coordinates, characterized, in that, the processor is further programmed to perform test steps for comparing the dead reckoning coordinates to the information from the data base, the arrangement further including a first working memory for storing a dynamic local navigation-data base LND, a second working memory for storing a data structure PSD containing, determined by the test steps, possibly driven route segments, and a third working memory for storing a further data structure DRD containing pseudo-segments derived from consecutively calculated dead reckoning coordinates and forming a pseudo-route, the processor periodically determining a correction vector for the dead reckoning coordinates by comparing the contents of the second and third working memories.
Claim 18
Dependent Claim
148 words
An arrangement for determining the position of a vehicle, including a memory for storing a global data base containing topographical and traffic-technical information and a processor programmed to calculate periodically, on the basis of measured navigation-parameters, dead reckoning coordinates, characterized, in that, the processor is further programmed to perform test steps for comparing the dead reckoning coordinates to the information from the data base, the arrangement further including a first working memory for storing a dynamic local navigation-data base LND, a second working memory for storing a data structure PSD containing, determined by the test steps, possibly driven route segments, and a third working memory for storing a further data structure DRD containing pseudo-segments derived from consecutively calculated dead reckoning coordinates and forming a pseudo-route, the processor periodically determining a correction vector for the dead reckoning coordinates by comparing the contents of the second and third working memories.
Claim 19
Dependent Claim
90 words
An arrangement as claimed in Claim 15, characterized, in that, the processor when comparing the contents of the second and third working memories for the determination of the correction vector, determines for every possibly driven route from PSD a branch translation vector from the pseudo-route on the basis of at least two segment-translation vectors from pseudo-segments making up the pseudo-route, to associated route segments, the processor being programmed to select by means of correlation tests performed on the composite segment-translation vectors a best fitting branch-translation vector as the correction vector.
Claim 20
Dependent Claim
13 words
A vehicle provided with an arrangement as claimed in Claims 15 or 16.
References Cited (Backward Citations)
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