WO1990015307A1 - Vehicle navigation system - Google Patents

Vehicle navigation system Download PDF

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Publication number
WO1990015307A1
WO1990015307A1 PCT/EP1989/000646 EP8900646W WO9015307A1 WO 1990015307 A1 WO1990015307 A1 WO 1990015307A1 EP 8900646 W EP8900646 W EP 8900646W WO 9015307 A1 WO9015307 A1 WO 9015307A1
Authority
WO
WIPO (PCT)
Prior art keywords
route
vehicle
navigation system
followed
vehicle navigation
Prior art date
Application number
PCT/EP1989/000646
Other languages
French (fr)
Inventor
Jürgen KÄSSER
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to DE68918115T priority Critical patent/DE68918115T2/en
Priority to US07/761,846 priority patent/US5646856A/en
Priority to PCT/EP1989/000646 priority patent/WO1990015307A1/en
Priority to EP89906744A priority patent/EP0475935B1/en
Publication of WO1990015307A1 publication Critical patent/WO1990015307A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/22—Plotting boards

Definitions

  • the present invention relates to navigation systems, and is particularly applicable to navigation systems for land vehicles.
  • Navigation systems for use in shipping, air and space travel are well known and their benefit is indisputable. More recently, navigation systems for overland travel have met with increasing interest and homing systems for travel on motorways and city road systems have been proposed.
  • the basic system includes a driver communication system via which the starting point and the desired destination are entered, and direction recommendations issued; a route search system, which computes the optimum route, based on the starting point and destination entered, by accessing a digital illustration of the road system; a locating system which continuously updates the actual position during the journey and a navigation system, which makes a comparison of the set route and the actual route and, in the event of any disparity, causes the route search system to determine a new optimum route from the actual position.
  • This last feature makes the homing always optimal, regardless of whether or not the directional recommendations are followed.
  • the known system requires a very large data handling capability and is hence complex and expensive to produce. Using this system the driver simply has to enter his desired destination and the navigation system will guide him there, for example using commands output in synthetic language. Thus, this system requires the minimum of activity on the part of the driver. However, a simpler system would be desirable from the stand point of cost and large-scale production.
  • the present invention provides a vehicle navigation system including means for storing data representing a route to be followed; means for detecting the actual path travelled by the vehicle; comparison means for comparing the actual position of the vehicle to the route to be followed; and means responsive to said comparison means for giving direction commands to the vehicle operator; characterized by manually operable means for inputting data representing a selected route to be followed. By obeying the direction commands the operator is able to steer the vehicle along the selected route.
  • the present invention provides a navigation system which does not require a route search algorithm or an extended database and is hence less complex and less expensive to produce.
  • the present invention is applicable to navigation systems in general and the term "vehicle" used herein is intended to include ships and aircraft as well as land vehicles.
  • the invention has considerable advantages for a driver of a vehicle since once the selected route has been input in the system the driver does not have to memorize the route or refer to a map. His or her mind is free to concentrate on driving the vehicle.
  • the driver selects his or her own route, rather than relying on a route determined by the system itself. For many drivers this is in any case preferable.
  • the means for giving direction commands to the vehicle operator may simply comprise a visual display, mounted on a car dashboard for example, showing the selected route and also indicating the actual position of the vehicle. The driver can then see at a glance whereabouts the vehicle is on the selected route and determine which direction should be followed next.
  • the system may additionally include means for commanding the driver in synthesized speech for example to ensure that in a road system he does not miss any turnings.
  • the means for inputting the selected route may comprise a light pen which may be used to trace the selected route on a display screen.
  • a light pen which may be used to trace the selected route on a display screen.
  • the route to be travelled may be input using the digitizing mesh system used in the known EVA navigation system.
  • the system preferably includes means for storing data representing available routes.
  • a navigation system for a land vehicle such as a car may include details of the road network for the area through which a journey is to be made.
  • Such a system may also include means for eliminating discrepancies between the input route and the available routes.
  • a correlator may be provided for selecting from the available routes that which corresponds most closely to the route input by the operator.
  • Figure 1 is a schematic block diagram showing the essential components of a navigation system for land vehicles according to the present invention
  • Figure 2 is a diagram illustrating the operation of a light pen with a liquid crystal display
  • Figure 3 is a diagram illustrating the operation of a digitising mesh system.
  • the selected route is input by means of a light pen 10.
  • a map showing the road network through which a journey is to be made is stored in a data store 11.
  • the data may, for example, be permanently stored on a magnetic cassette, and loaded into the system when required.
  • the stored data is fed to a display 12 via processor 13 and presented on the viewing screen of the display.
  • the display may comprise a cathode ray tube.
  • the use of a cathode ray tube in combination with a light pen is well known in the art and will not be described further herein.
  • the display may be a graphics capable liquid crystal dispay (LCD) with back lighting, as illustrated in Figure 2.
  • Figure 2 (a) shows the display diagramatically from the front and Figure 2 (b) the same display from the side.
  • the screen 30 shown in Figure 2 is divided into a number of pixels 31 which may be switched from a light impermeable state to a light permeable state. At any moment in time only one of the pixels eg: 31a is in the light-permeable state. All of the pixels are illustrated from the back.
  • the light pen has a light detector 10a conneted to appropriate circuitry for detecting light emitted from the screen, whereby the position of the pen can be determined by scanning the pixels.
  • the map is displayed on the screen and the route is selected using the light pen 10.
  • the scanning of the screen to determine the pen position may alternate with the display of the map. The scanning may be so rapid that it would be impercepible to the eye.
  • the information on the selected route, input via the light pen is fed to an input route data store 14.
  • the input route data is compared to the stored route data by a correlator 15.
  • the correlator is used to solve problems of incidental parallax errors etc. which mean that the traced routes do not agree with the data in store 11.
  • the correlator compares the actual input route data with the stored road map data in the store 11 and selects from the store 11 the route which corresponds most closely to the input route data.
  • the data selected is then retained in a further memory 16 from where it is supplied to a control unit 17.
  • the control unit supplies signals to the processor 13 to cause the selected route, based on data from the store 11 to be illustrated on the viewing screen of the display 12.
  • the apparatus for calculating the vehicle position includes angle sensors and sensors on the vehicle wheels and is well known in this art.
  • the apparatus is generally identified by the block 18 in the diagram. Any known method for calculating the vehicle position using the sensors may be used and the precise details will not be described further herein.
  • the position data is supplied to the processor 13 via the control unit 17 and the actual position is displayed on the screen. With the selected route and the present position being indicated, the driver can tell from a glance at the screen which road he should follow. Arrows may be provided on the display to highlight the actual vehicle position and the direction to be followed. However, it is clearly undesirable for the driver to have to look at the screen whilst driving and therefore the system of the present invention preferably includes means for giving commands to the driver in synthesized speech, indicated as voice output 19.
  • control unit controls the voice output to give commands to the driver such as "Turn right at next junction".
  • the system may include a correlator for correlating position data provided from the sensors with the stored road network data. This compensates to some extent for inaccuracies in the sensing and calculating of the actual vehicle position.
  • the correlator 11 may perform this function as well as correlating the input route data with the stored road network data.
  • Figure 3 (a) is a diagramatic front elevation and Figure 3 (b) is a corresponding side elevation.
  • two membranes 41 , 42 overlie the front of an LCD screen 40.
  • Each membrane is transparent and carries a series of transparent conductive tracks.
  • Membrane 41 carries vertical tracks 43 and membrane 42 carries horizontal tracks 44.
  • the membranes are not normally in contact.
  • the LCD displays the map and an ordinary pen or pencil or any other suitable pointed implement may be used to trace the route on the display. As the pen travels across the screen the two membranes and their associated conductive tracks make contact (point wise under the pen).
  • successive voltages to, for example, the horizontal tracks 44 and interrogating the vertical tracks for voltage, the location of the pen and hence the desired journey route can be determined.
  • Another alternative arrangement for inputting the desired route is to provide a cursor on the display which may be moved by means of a joystick or "mouse" asis well known in the art.

Abstract

A vehicle navigation system includes a data store (16) for storing data representing a route to be followed and means for detecting the actual path travelled by the vehicle (18) including sensors and means for analysing sensor signals. The actual position of the vehicle at any time is compared to the route to be followed and direction commands are given to the driver which, if followed, enable the driver to follow the route. The driver can select the route himself, either by using a light pen and tracing the route on the CRT screen, or by using the known digitizing mesh system.

Description

Vehicle Navigation System
The present invention relates to navigation systems, and is particularly applicable to navigation systems for land vehicles. Navigation systems for use in shipping, air and space travel are well known and their benefit is indisputable. More recently, navigation systems for overland travel have met with increasing interest and homing systems for travel on motorways and city road systems have been proposed.
An electronic traffic pilot for motorists is described in an article in the German magazine "Funknavigation" , issue No. 4 of 1983, entitled EVA- Ortungs-und Navigations system fur Landfahrzeuge, by Ernst P. Neukirchner, Otmar Pilsak, and Dietmar Schlogl. The basic system includes a driver communication system via which the starting point and the desired destination are entered, and direction recommendations issued; a route search system, which computes the optimum route, based on the starting point and destination entered, by accessing a digital illustration of the road system; a locating system which continuously updates the actual position during the journey and a navigation system, which makes a comparison of the set route and the actual route and, in the event of any disparity, causes the route search system to determine a new optimum route from the actual position. This last feature makes the homing always optimal, regardless of whether or not the directional recommendations are followed.
The known system requires a very large data handling capability and is hence complex and expensive to produce. Using this system the driver simply has to enter his desired destination and the navigation system will guide him there, for example using commands output in synthetic language. Thus, this system requires the minimum of activity on the part of the driver. However, a simpler system would be desirable from the stand point of cost and large-scale production.
The present invention provides a vehicle navigation system including means for storing data representing a route to be followed; means for detecting the actual path travelled by the vehicle; comparison means for comparing the actual position of the vehicle to the route to be followed; and means responsive to said comparison means for giving direction commands to the vehicle operator; characterized by manually operable means for inputting data representing a selected route to be followed. By obeying the direction commands the operator is able to steer the vehicle along the selected route. Thus, the present invention provides a navigation system which does not require a route search algorithm or an extended database and is hence less complex and less expensive to produce.
The present invention is applicable to navigation systems in general and the term "vehicle" used herein is intended to include ships and aircraft as well as land vehicles.
The invention has considerable advantages for a driver of a vehicle since once the selected route has been input in the system the driver does not have to memorize the route or refer to a map. His or her mind is free to concentrate on driving the vehicle.
In contrast to the known vehicle navigation system the driver selects his or her own route, rather than relying on a route determined by the system itself. For many drivers this is in any case preferable.
The means for giving direction commands to the vehicle operator may simply comprise a visual display, mounted on a car dashboard for example, showing the selected route and also indicating the actual position of the vehicle. The driver can then see at a glance whereabouts the vehicle is on the selected route and determine which direction should be followed next. The system may additionally include means for commanding the driver in synthesized speech for example to ensure that in a road system he does not miss any turnings.
The means for inputting the selected route may comprise a light pen which may be used to trace the selected route on a display screen. Alternatively for a car travelling through a road network the route to be travelled may be input using the digitizing mesh system used in the known EVA navigation system.
The system preferably includes means for storing data representing available routes. For example, a navigation system for a land vehicle such as a car may include details of the road network for the area through which a journey is to be made. Such a system may also include means for eliminating discrepancies between the input route and the available routes. To this end, a correlator may be provided for selecting from the available routes that which corresponds most closely to the route input by the operator.
An embodiment of the invention will now be described by way of example only and with reference to the accompanying drawings in which:
Figure 1 is a schematic block diagram showing the essential components of a navigation system for land vehicles according to the present invention;
Figure 2 is a diagram illustrating the operation of a light pen with a liquid crystal display; and
Figure 3 is a diagram illustrating the operation of a digitising mesh system.
In the embodiments of the invention to be described below, the selected route is input by means of a light pen 10. A map showing the road network through which a journey is to be made is stored in a data store 11. The data may, for example, be permanently stored on a magnetic cassette, and loaded into the system when required. The stored data is fed to a display 12 via processor 13 and presented on the viewing screen of the display. The display may comprise a cathode ray tube. The use of a cathode ray tube in combination with a light pen is well known in the art and will not be described further herein. Alternatively the display may be a graphics capable liquid crystal dispay (LCD) with back lighting, as illustrated in Figure 2. Figure 2 (a) shows the display diagramatically from the front and Figure 2 (b) the same display from the side.
The screen 30 shown in Figure 2 is divided into a number of pixels 31 which may be switched from a light impermeable state to a light permeable state. At any moment in time only one of the pixels eg: 31a is in the light-permeable state. All of the pixels are illustrated from the back. The light pen has a light detector 10a conneted to appropriate circuitry for detecting light emitted from the screen, whereby the position of the pen can be determined by scanning the pixels.
To enable a user to select a desired route the map is displayed on the screen and the route is selected using the light pen 10. In the case of an LCD as described above the scanning of the screen to determine the pen position may alternate with the display of the map. The scanning may be so rapid that it would be impercepible to the eye.
The information on the selected route, input via the light pen is fed to an input route data store 14. The input route data is compared to the stored route data by a correlator 15. The correlator is used to solve problems of incidental parallax errors etc. which mean that the traced routes do not agree with the data in store 11. The correlator compares the actual input route data with the stored road map data in the store 11 and selects from the store 11 the route which corresponds most closely to the input route data. The data selected is then retained in a further memory 16 from where it is supplied to a control unit 17. The control unit supplies signals to the processor 13 to cause the selected route, based on data from the store 11 to be illustrated on the viewing screen of the display 12.
During a journey the actual position of the vehicle is monitored and data identifying the vehicle position is supplied to the control unit. The apparatus for calculating the vehicle position includes angle sensors and sensors on the vehicle wheels and is well known in this art. The apparatus is generally identified by the block 18 in the diagram. Any known method for calculating the vehicle position using the sensors may be used and the precise details will not be described further herein. The position data is supplied to the processor 13 via the control unit 17 and the actual position is displayed on the screen. With the selected route and the present position being indicated, the driver can tell from a glance at the screen which road he should follow. Arrows may be provided on the display to highlight the actual vehicle position and the direction to be followed. However, it is clearly undesirable for the driver to have to look at the screen whilst driving and therefore the system of the present invention preferably includes means for giving commands to the driver in synthesized speech, indicated as voice output 19.
Thus, at the same time as controlling the processor to display "present position" data on the screen the control unit controls the voice output to give commands to the driver such as "Turn right at next junction".
The system may include a correlator for correlating position data provided from the sensors with the stored road network data. This compensates to some extent for inaccuracies in the sensing and calculating of the actual vehicle position. The correlator 11 may perform this function as well as correlating the input route data with the stored road network data.
As mentioned above, instead of using a light pen to trace the route the known digitising mesh system may be used. This is illustrated schematically in Figure 3. Figure 3 (a) is a diagramatic front elevation and Figure 3 (b) is a corresponding side elevation. In this arrangement two membranes 41 , 42 overlie the front of an LCD screen 40. Each membrane is transparent and carries a series of transparent conductive tracks. Membrane 41 carries vertical tracks 43 and membrane 42 carries horizontal tracks 44. The membranes are not normally in contact. The LCD displays the map and an ordinary pen or pencil or any other suitable pointed implement may be used to trace the route on the display. As the pen travels across the screen the two membranes and their associated conductive tracks make contact (point wise under the pen). By applying successive voltages to, for example, the horizontal tracks 44 and interrogating the vertical tracks for voltage, the location of the pen and hence the desired journey route can be determined.
Another alternative arrangement for inputting the desired route is to provide a cursor on the display which may be moved by means of a joystick or "mouse" asis well known in the art.

Claims

CLAIMS :
1. A vehicle navigation system including means for storing data representing a route to be followed (16); means for detecting the actual path travelled by the vehicle (18); comparison means (17) for comparing the actual position of the vehicle to the route to be followed; and means (12, 19) responsive to said comparison means for giving direction commands to the vehicle operator; characterized by manually operable means for inputting data representing a selected route to be followed.
2. A vehicle navigation system as claimed in claim 1 in which direction commands are given to the vehicle operator in synthesized speech (19).
3. A vehicle navigation system as claimed in claim 1 or 2 in which said means for giving direction commands to the vehicle operator include means for displaying the actual position of the vehicle and the route to be followed (12).
4. A vehicle navigation system as claimed in claim 3 in which said display means comprises a liquid crystal display or cathode ray tube and said manually operable means comprises a light sensitive device operable to trace a desired route on the screen.
5. A vehicle navigation system as claimed in claim 3 in which the display includes a cursor which is moveable by means of manually operable device to trace a desired route on the display.
6. A vehicle navigation system as claimed in any preceding claim further comprising means for storing data representing available routes (11).
7. A vehicle navigation system as claimed in claim 6 comprising means for correlating the data representing the selected route (1 ) to the data representing available routes (11) to provide from the available route data the available route which corresponds most closely to the selected route.
PCT/EP1989/000646 1989-06-08 1989-06-08 Vehicle navigation system WO1990015307A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE68918115T DE68918115T2 (en) 1989-06-08 1989-06-08 VEHICLE NAVIGATION SYSTEM.
US07/761,846 US5646856A (en) 1989-06-08 1989-06-08 Vehicle navigation system
PCT/EP1989/000646 WO1990015307A1 (en) 1989-06-08 1989-06-08 Vehicle navigation system
EP89906744A EP0475935B1 (en) 1989-06-08 1989-06-08 Vehicle navigation system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP1989/000646 WO1990015307A1 (en) 1989-06-08 1989-06-08 Vehicle navigation system

Publications (1)

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WO1990015307A1 true WO1990015307A1 (en) 1990-12-13

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PCT/EP1989/000646 WO1990015307A1 (en) 1989-06-08 1989-06-08 Vehicle navigation system

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US (1) US5646856A (en)
EP (1) EP0475935B1 (en)
DE (1) DE68918115T2 (en)
WO (1) WO1990015307A1 (en)

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Publication number Publication date
DE68918115T2 (en) 1995-01-05
EP0475935B1 (en) 1994-09-07
DE68918115D1 (en) 1994-10-13
EP0475935A1 (en) 1992-03-25
US5646856A (en) 1997-07-08

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