Vehicle navigational system and method

Claim 2

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base.

Claim 3

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of the parameters is the closeness of two streets of the map data base to one another.

Claim 4

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of the parameters is the closeness of two streets of the map data base to one another.

Claim 5

Apparatus, according to claim 2, wherein the two streets qualify as possibly correponding to the more probable current position, one of said two streets being on one side of said current position and the other of said two being on the other side of said current position.

Claim 6

Apparatus, according to claim 3, wherein said means for deriving rejects said two streets as possibly corresponding to said more probable current position if the distance between said current position and said one street and the distance between said current position and said other street are similar to each other.

Claim 7

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base; and (d) means for providing an estimate of said accuracy of the respective positions.

Claim 8

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base; and (d) means for providing an estimate of said accuracy of the respective positions.

Claim 9

Apparatus, according to claim 5, wherein each position of the vehicle has an accumulation of error, and wherein said estimate changes as the vehicle moves to reflect the accumulation of error and changes if a more probable current position is determined to exist to reflect a greater accuracy of the more probable current position.

Claim 10

Apparatus, according to claim 6, wherein said estimate changes at a varying rate as the vehicle moves.

Claim 11

Apparatus, according to claim 6, wherein said estimate is a contour enclosing an area having a probability of containing the actual location of the vehicle.

Claim 12

Apparatus, according to claim 5, wherein one of said parameters is the closeness of said current position to respective streets of the map data base, said closeness being dependent on said estimate.

Claim 13

Apparatus, according to claim 9, wherein a given street of the map data base does not qualify as possibly corresponding to the more probable current position if said closeness parameter indicates that the distance of said current position to said given street is greater than a given threshold.

Claim 14

Apparatus, according to claim 9, wherein a given street of the map data base qualifies as possibly corresponding to the more probable current position if said closeness parameter indicates that the distance of said current position to said given street is less than a given threshold.

Claim 15

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of the parameters is the connectivity of the streets of the map data base.

Claim 16

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of the parameters is the connectivity of the streets of the map data base.

Claim 17

Apparatus, according to claim 12, wherein one of the positions of the vehicle is an old position corresponding to a point on one of the streets of the map data base, and wherein a given street may not quality as possibly corresponding to the more probable current position if said given street is not directly connected to said one street.

Claim 18

Apparatus, according to claim 12, wherein one of the positions of the vehicle is an old position corresponding to a point on one of the streets of the map data base, and wherein a given street qualifies as possibly corresponding to the more probable current position if said given street is directly connected to said one street.

Claim 19

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is a correlation of the path of the vehicle indicated by the respective positions of the vehicle and the path of a given street of the map data base.

Claim 20

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is a correlation of the path of the vehicle indicated by the respective positions of the vehicle and the path of a given street of the map data base.

Claim 21

Apparatus, according to claim 15, wherein said means for deriving determines that the more probable current position corresponds to a point on said given street indicated by said correlation parameter as the best correlation.

Claim 22

Apparatus, according to claim 15, wherein a given street does not qualify as possibly corresponding to the more probable current position if said correlation parameter has a minimum value greater than a given threshold.

Claim 23

Apparatus, according to claim 15, wherein said correlation parameter has a minimum value, and wherein said given street does not qualify as possibly corresponding to the more probable current position if a second order difference equation identifies a change in slope at said minimum value less than a given threshold.

Claim 24

Apparatus, according to claim 15, wherein a given street qualifies as possibly corresponding to the more probable current position if said correlation parameter has a minimum value less than a given threshold and if a second order difference equation identifies a change in slope at said minimum value greater than a given threshold.

Claim 25

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base, and wherein a given street of the map data base does not qualify as possibly corresponding to the more probable current position if the difference between said measured heading and the heading of said given street is greater than a given threshold.

Claim 26

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base, and wherein a given street of the map data base does not qualify as possibly corresponding to the more probable current position if the difference between said measured heading and the heading of said given street is greater than a given threshold.

Claim 27

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base, and wherein a given street of the map data base qualifies as possibly corresponding to the more probable current position if the difference between said measured heading and the heading of said given street is less than a given threshold.

Claim 28

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position, and for providing data identifying a measured heading of the vehicle; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein one of said parameters is the measured heading of the vehicle as compared with the headings of the streets of the map data base, and wherein a given street of the map data base qualifies as possibly corresponding to the more probable current position if the difference between said measured heading and the heading of said given street is less than a given threshold.

Claim 29

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein said means for deriving determines from said plurality of parameters if any said streets of said map data base qualify as possibly corresponding to the more probable current position, and if no said street is determined, then said current position is retained as an old position by said first means for providing data to provide data identifying a succeeding position of the vehicle.

Claim 30

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein said means for deriving determines from said plurality of parameters if any said streets of said map data base qualify as possibly corresponding to the more probable current position, and if no said street is determined, then said current position is retained as an old position by said first means for providing data to provide data identifying a succeeding position of the vehicle.

Claim 31

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein said means for deriving determines from said plurality of parameters if any of said streets of said map data base qualify as possibly corresponding to the more probable current position, and if one of said streets is determined, then said more probable current position is retained as an old position by said first means for providing data to provide data identifying a succeeding position of the vehicle.

Claim 32

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; and (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists, wherein said means for deriving determines from said plurality of parameters if any of said streets of said map data base qualify as possibly corresponding to the more probable current position, and if one of said streets is determined, then said more probable current position is retained as an old position by said first means for providing data to provide data identifying a succeeding position of the vehicle.

Claim 33

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists; and (d) wherein said first means for providing data comprises sensor means for producing heading data indicating the direction of the vehicle, wherein a given one of said streets of said map data base has a direction corresponding to the direction of the vehicle, and further comprising means for calibrating said sensor means by comparing said direction of the vehicle and said direction of said given street and adjusting said heading data to minimize average error between said direction of the vehicle and said direction of said given street.

Claim 34

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists; and (d) wherein said first means for providing data comprises sensor means for producing heading data indicating the direction of the vehicle, wherein a given one of said streets of said map data base has a direction corresponding to the direction of the vehicle, and further comprising means for calibrating said sensor means by comparing said direction of the vehicle and said direction of said given street and adjusting said heading data to minimize average error between said direction of the vehicle and said direction of said given street.

Claim 35

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists; and (d) wherein said first means for providing comprises sensor means for producing distance data indicating the distance traveled by the vehicle; wherein, upon the vehicle moving from one street onto another street, the position of the vehicle may be at a certain distance away from the corresponding other street of the map data base; and further comprising means for calibrating said sensor means by adjusting said distance data in dependence on said certain distance.

Claim 36

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets in a given area, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having an accuracy relative to an actual location of the vehicle and one of said positions being a current position; (b) second means for providing a map data base of the streets; (c) means for deriving any of a plurality of parameters in dependence on one or more respective positions of the vehicle and the streets of the map data base to determine if a more probable current position exists; and (d) wherein said first means for providing comprises sensor means for producing distance data indicating the distance traveled by the vehicle; wherein, upon the vehicle moving from one street onto another street, the position of the vehicle may be at a certain distance away from the corresponding other street of the map data base; and further comprising means for calibrating said sensor means by adjusting said distance data in dependence on said certain distance.

Claim 39

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having a certain accuracy and a current position possibly being subject to being updated; and (b) second means for providing an estimate of the accuracy of the positions of the vehicle, the estimate changing as the vehicle moves and changing if the current position is updated, the estimate being used to determine if a more probable position than the current position exists.

Claim 40

Apparatus for providing information to improve the accuracy of tracking a vehicle movable over streets, comprising: (a) first means for providing data identifying respective positions of the vehicle, each position having a certain accuracy and a current position possibly being subject to being updated; and (b) second means for providing an estimate of the accuracy of the positions of the vehicle, the estimate changing as the vehicle moves and changing if the current position is updated, the estimate being used to determine if a more probable position than the current position exists.

Claim 41

Apparatus, according to claim 27, wherein said first means for providing data comprises sensor means for generating information about the distance traveled and heading of the vehicle, and wherein said estimate changes in dependence on the accuracy of said sensor means.

Claim 42

Apparatus, according to claim 27, further comprising means for providing a map data base having a certain accuracy of the location of the streets, and wherein said estimate is dependent on the accuracy of said map data base.

Claim 43

Apparatus, according to claim 27, wherein said estimate changes at a varying rate as the vehicle moves.

Claim 44

Apparatus, according to claim 30, wherein said first means for providing data comprises sensor means for generating information having a certain quality about the heading of the vehicle, and wherein said varying rate is dependent on the quality of the heading information.

Claim 45

Apparatus, according to claim 30, wherein said first means for providing data comprises sensor means for generating information having a certain quality about the distance traveled by the vehicle, and wherein said varying rate is dependent on the quality of the distance information.

Claim 46

Apparatus, according to claim 30, wherein said varying rate is dependent on the performance of the apparatus.

Claim 47

Apparatus, according to claim 33, wherein said performance is dependent on the distance that a current position was moved upon being updated and the distance traveled by the vehicle between the update of a preceding position and the update of the current position.

Claim 48

Apparatus, according to claim 27, wherein said estimate of the accuracy of the positions can be different in different directions relative to the direction of movement of the vehicle.

Claim 49

Apparatus, according to claim 27, wherein said estimate of the accuracy of the respective positions is a probability density function in the vicinity of the respective positions.

Claim 50

Apparatus, according to claim 27, wherein said estimate of the accuracy of the respecitve positions is a plurality of points defining a shape enclosing an area having a probabilty of including the actual location of the vehicle.

Claim 51

Apparatus, according to claim 27, wherein said estimate of the accuracy of the respective positions is a set of one or more equations defining a distribution of probability associated with the respective positions.

Claim 52

Apparatus, according to claim 27, wherein said estimate is a table of values defining a distribution of probability associated with the respective positions.

Claim 53

Apparatus for automatically tracking a vehicle movable about streets of an overall given area, comprising: (a) first means for providing first data identifying respective positions of the vehicle as the vehicle moves about the streets, each position having a certain accuracy and one of the positions being a current position; (b) second means for providing second data being an estimate of the accuracy of the respective positions of the vehicle, the estimate changing as the vehicle moves about the streets to reflect the accuracy of the respective positions; (c) third means for providing a map data base of the streets of the given area; and (d) means for determining if a more probable position than the current position exists in response to the first data, the second data and the map data base.

Claim 54

Apparatus for automatically tracking a vehicle movable about streets of an overall given area, comprising: (a) first means for providing first data identifying respective positions of the vehicle as the vehicle moves about the streets, each position having a certain accuracy and one of the positions being a current position; (b) second means for providing second data being an estimate of the accuracy of the respective positions of the vehicle, the estimate changing as the vehicle moves about the streets to reflect the accuracy of the respective positions; (c) third means for providing a map data base of the streets of the given area; and (d) means for determining if a more probable position than the current position exists in response to the first data, the second data and the map data base.

Claim 55

Apparatus, according to claim 40, wherein said means for determining updates the current position to an updated current position if a more probable position exists.

Claim 56

Apparatus, according to claim 41, wherein said means for determining comprises: (a) means for identifying a most probable street on which the vehicle may be actually moving; and (b) means for correlating certain of the positions with positions along the most probable street, the updated current position corresponding to a most probable point on the most probable street in response to the correlation.

Claim 57

Apparatus, according to claim 41, wherein said means for determining updates the estimate of the accuracy of the current position to an updated estimate of the accuracy of the updated position.

Claim 58

Apparatus, according to claim 43, wherein said updated estimate is decreased in size relative to the size of the estimate of the accuracy of the current position to reflect the greater accuracy of the updated current position.

Claim 59

Apparatus, according to claim 40, wherein said means for determining does not update the current position if it is determined that a more probable position does not exist.

Claim 60

Apparatus, according to claim 40, further comprising fourth means for providing calibration data for calibrating said first data providing means, and means for periodically adjusting the calibration data.

Claim 61

Apparatus, according to claim 40, wherein said means for determining comprises: (a) means for identifying the current position; (b) means for identifying a most probable street on which the vehicle may be actually moving; (c) means for determining a most probable point on the most probable street; and (d) means for determining a most probable overall update position of the vehicle in response to the current position and the most probable point, the overall update position not necessarily lying on the most probable street.

Claim 62

Apparatus, according to claim 40, wherein the vehicle may be moving over an actual path not all of which is in the map data base, and wherein said means for determining updates and does not update the current position to a more probable position as the vehicle moves on and off the streets of the map data base.

Claim 63

Apparatus for automatically tracking a vehicle movable about streets of an overall given area, comprising: (a) first means for providing first data identifying respective dead reckoned positions of the vehicle as the vehicle moves about the streets, each dead reckoned position having a certain accuracy and one of the dead reckoned positions being a current position; (b) second means for providing second data identifying an estimate of the accuracy of the respective dead reckoned positions in the form of a contour containing the respective dead reckoned positions of the vehicle and approximating a probability of containing the actual location on the vehicle, the contour changing as the vehicle moves about the streets; (c) third means for providing a map data base of the streets of the given area; and (d) means for updating the current dead reckoned position of the vehicle to an updated current dead reckoned position corresponding to a more probable point on one of the streets in response to said first data identifying the current dead reckoned position, said second data identifying the contour associated with the current dead reckoned position, and said map data base.

Claim 64

Apparatus for automatically tracking a vehicle movable about streets of an overall given area, comprising: (a) first means for providing first data identifying respective dead reckoned positions of the vehicle as the vehicle moves about the streets, each dead reckoned position having a certain accuracy and one of the dead reckoned positions being a current position; (b) second means for providing second data identifying an estimate of the accuracy of the respective dead reckoned positions in the form of a contour containing the respective dead reckoned positions of the vehicle and approximating a probability of containing the actual location on the vehicle, the contour changing as the vehicle moves about the streets; (c) third means for providing a map data base of the streets of the given area; and (d) means for updating the current dead reckoned position of the vehicle to an updated current dead reckoned position corresponding to a more probable point on one of the streets in response to said first data identifying the current dead reckoned position, said second data identifying the contour associated with the current dead reckoned position, and said map data base.

Claim 65

Apparatus, according to claim 49, further comprising means for updating the contour associated with the current dead reckoned position to an updated contour upon updating the current dead reckoned position.

Claim 66

Apparatus, according to claim 50, wherein the contour associated with the current dead reckoned position is updated in response to the second data identifying the contour associated with the current dead reckoned position and the one street of the map data base, the updated contour having approximately the same probability of containing the actual location of the vehicle as the contour associated with the current dead reckoned position but contracting in size to reflect the increased accuracy of the updated dead reckoned position as compared to the current dead reckoned position.

Claim 67

Apparatus, according to claim 49, wherein said first means for providing comprises: (a) means for producing data indicating the distance traveled by the vehicle; and (b) means for producing data indicating the heading of the vehicle.

Claim 68

Apparatus, according to claim 52, further comprising: (a) means for providing calibration data for calibrating said means for producing distance data and said means for producing heading data; and (b) means for adjusting the calibration data.

Claim 69

Apparatus, according to claim 49, wherein the contour associated with one dead reckoned position is moved and expanded relative to the contour associated with a preceding dead reckoned position if the vehicle has moved a minimum distance.

Claim 70

Apparatus, according to claim 54, wherein the contour is expanded in proportion to the distance traveled by the vehicle.

Claim 71

Apparatus, according to claim 54, wherein the contour is expanded in proportion to the accuracy of said first means for providing data.

Claim 72

Apparatus, according to claim 49, wherein said means for updating determines one or more streets of said map data base as qualifying as lines-of-position.

Claim 73

Apparatus, according to claim 57, wherein the line-of-position of the one street having the point corresponding to the updated current dead reckoned position is substantially parallel to the heading of the vehicle.

Claim 74

Apparatus, according to claim 58, wherein the line-of-position of the one street intersects the contour associated with the current dead reckoned position.

Claim 75

Apparatus, according to claim 59, wherein the line-of-position of the one street is connected to another line-of-position having a point corresponding to a next preceding updated current dead reckoned position.

Claim 76

Apparatus, according to claim 49, wherein said means for updating comprises means for correlating certain of the dead reckoned positions indicating the path of the vehicle with the path of the one street to determine said more probable point on the one street in response to the correlation.

Claim 77

Apparatus, according to claim 49, wherein said means for updating determines lines-of-position in response to the map data base, eack line-of-position corresponding to a street over which the vehicle may be moving and being substantially parallel to the heading of the vehicle and intersecting the contour associated with the current dead reckoned position.

Claim 78

Apparatus, according to claim 62, wherein said means for updating determines which one of the lines-of-position is the most probable line-of-position corresponding to the most probable street over which the vehicle may be moving, the most probable street being the one street.

Claim 79

Apparatus, according to claim 63, wherein said means for updating determines if no one line-of-position is most probable and, in response, the current dead reckoned position is not updated.

Claim 82

A system, according to claim 65, wherein said means for generating distance data and said means for generating heading data each has a certain accuracy, and wherein the contour expands in proportion to the said accuracy.

Claim 83

A system, according to claim 66, wherein the contour expands at a varying rate which is dependent on the distance that the current dead reckoned position is moved upon being updated and the distance traveled by the vehicle between a preceding update of a dead reckoned position and the update of the current dead reckoned position.

Claim 84

A system, according to claim 66, wherein said means for generating heading data comprises: (a) first sensor means for generating first heading data; and (b) second sensor means for generating second heading data.

Claim 85

A system, according to claim 68, wherein the contour expands at a varying rate which is dependent on any difference between said first heading data and said second heading data.

Claim 86

A system, according to claim 65, wherein said means for determining lines-of-position comprises: (a) means for determining all the lines-of-position on one side of the current dead reckoned position and selecting one line-of-position on the one side closest to the current dead reckoned position; (b) means for determining all the lines-of-position on the other side of the current dead reckoned position and selecting one line-of-position on that other side closest to the current dead reckoned position; and (c) means for selecting between the one line-of-position on the one side or the one line-of-position on the other side as the most probable line of position.

Claim 87

A system, according to claim 70, wherein neither the one line-of-position on the one side or the one line-of-position on the other side is selected if the distance between the one line-of-position on the one side and the one line-of-position on the other side is smaller than a given threshold.

Claim 88

A system, according to claim 65, wherein said third data identifying a map data base includes street foreshortening error information, and wherein said dead reckoned positions are provided in dependence on said street foreshortening error information.

Claim 89

A vehicle navigational system for automatically tracking a motor vehicle movable over streets of a given area identified by a map, the vehicle navigational system being installable on the vehicle, comprising: (a) first means for sensing the distance traveled by the motor vehicle and for generating distance data; (b) second means for sensing the heading of the motor vehicle and for generating heading data; (c) means for storing a map data base identifying of the streets; (d) means for displaying the map and a motor vehicle symbol movable relative to the displayed map; and (e) programmed computer means for: (i) providing data identifying respective dead reckoned positions of the motor vehicle in response to the distance data and the heading data, one of the dead reckoned positions being a current dead reckoned position; (ii) providing data identifying a contour containing the respective dead reckoned positions, the contour expanding from one dead reckoned position to another dead reckoned position as the vehicle moves until the current dead reckoned position is updated; (iii) determining lines-of-position corresponding to respective streets in response to the map data base, one of which may be a most probable line-of-position corresponding to a street over which the motor vehicle may be moving, the most probable line-of-position being substantially parallel to the heading of the motor vehicle, intersecting the contour associated with the current dead reckoned position and being connected to a next preceding most probable line-of-position corresponding to a next preceding updated current dead reckoned position; (iv) updating the current dead reckoned position to an updated dead reckoned position on a more probable point on the most probable line-of-position in response to the current dead reckoned position, the contour associated with the current dead reckoned position and the most probable line-of-position; (v) updating the contour associated with the current dead reckoned position to an updated contour containing the updated dead reckoned position in response to the contour associated with the current dead reckoned position and the most probable line-of-position; and (vi) controlling said displaying means to display the map in response to the map data base and to display the motor vehicle symbol in response to the data identifying the respective dead reckoned positions.

Claim 90

A vehicle navigational system for automatically tracking a motor vehicle movable over streets of a given area identified by a map, the vehicle navigational system being installable on the vehicle, comprising: (a) first means for sensing the distance traveled by the motor vehicle and for generating distance data; (b) second means for sensing the heading of the motor vehicle and for generating heading data; (c) means for storing a map data base identifying of the streets; (d) means for displaying the map and a motor vehicle symbol movable relative to the displayed map; and (e) programmed computer means for: (i) providing data identifying respective dead reckoned positions of the motor vehicle in response to the distance data and the heading data, one of the dead reckoned positions being a current dead reckoned position; (ii) providing data identifying a contour containing the respective dead reckoned positions, the contour expanding from one dead reckoned position to another dead reckoned position as the vehicle moves until the current dead reckoned position is updated; (iii) determining lines-of-position corresponding to respective streets in response to the map data base, one of which may be a most probable line-of-position corresponding to a street over which the motor vehicle may be moving, the most probable line-of-position being substantially parallel to the heading of the motor vehicle, intersecting the contour associated with the current dead reckoned position and being connected to a next preceding most probable line-of-position corresponding to a next preceding updated current dead reckoned position; (iv) updating the current dead reckoned position to an updated dead reckoned position on a more probable point on the most probable line-of-position in response to the current dead reckoned position, the contour associated with the current dead reckoned position and the most probable line-of-position; (v) updating the contour associated with the current dead reckoned position to an updated contour containing the updated dead reckoned position in response to the contour associated with the current dead reckoned position and the most probable line-of-position; and (vi) controlling said displaying means to display the map in response to the map data base and to display the motor vehicle symbol in response to the data identifying the respective dead reckoned positions.

Claim 91

A vehicle navigational system, according to claim 73, wherein the current dead reckoned position is not updated if it is determined that there is no most probable line-of-position.

Claim 92

A vehicle navigational system, according to claim 74, wherein said programmed computer means stores calibration data about said first means for sensing and said second means for sensing and adjusts the calibration data upon updating the current dead reckoned position and the contour.

Claim 93

A vehicle navigational system, according to claim 74, wherein the contour expands at a varying rate which is dependent on the distance that the current dead reckoned position is moved upon being updated and the distance traveled by the vehicle between a peceding update of a dead reckoned position and the update of the current dead reckoned position.

Claim 94

A vehicle navigational system, according to claim 76, wherein said first means and said second means for sensing each has a certain accuracy, and said varying rate is in proportion to such accuracy.