GB2180066A - Vehicle navigation system - Google Patents

Vehicle navigation system Download PDF

Info

Publication number
GB2180066A
GB2180066A GB08615376A GB8615376A GB2180066A GB 2180066 A GB2180066 A GB 2180066A GB 08615376 A GB08615376 A GB 08615376A GB 8615376 A GB8615376 A GB 8615376A GB 2180066 A GB2180066 A GB 2180066A
Authority
GB
United Kingdom
Prior art keywords
vehicle
data
output
measuring
distance
Prior art date
Legal status (The legal status 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 status listed.)
Granted
Application number
GB08615376A
Other versions
GB8615376D0 (en
GB2180066B (en
Inventor
Eliahu Igal Zeevi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of GB8615376D0 publication Critical patent/GB8615376D0/en
Publication of GB2180066A publication Critical patent/GB2180066A/en
Application granted granted Critical
Publication of GB2180066B publication Critical patent/GB2180066B/en
Expired legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34Route searching; Route guidance
    • G01C21/36Input/output arrangements for on-board computers
    • G01C21/3626Details of the output of route guidance instructions

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

A vehicle navigation system comprising: means (3) for receiving data indicating vehicle position; means (1a) for storing data representing a road network; means (4) for measuring distance travelled by a vehicle; means (5) for measuring angle turned through by the vehicle; processing means (1) for receiving data from the distance measuring means (4) and angle measuring means (5) and from the data receiving means (3) and for supplying output data for aiding a driver of the vehicle to adhere to a route computed by the processing means from the input data; and output means (2) for supplying the output data in a form discernable by the driver. <IMAGE>

Description

SPECIFICATION Vehicle navigation system The present invention relates to vehicle navigation systems.
Map reading isaskilledtaskand may cause particularproblems in cities where the large number of road intersections and density of traffic can easily give rise to confusion. The problem is compounded when, in the absence of a passenger, the driver is forced to do his own map reading and navigation.
An object of the present invention is to provide a vehicle navigation system which simplifies route fin- ding fora driver.
Afurther object of the invention is to provide a vehicle navigation system which avoids the need for use of map.
According to one aspect of the present invention, there is provided a vehicle navigation system comprising: optional means for receiving data indicating vehicle position; means for storing data representing a road network; means for measuring distance travelled by a vehicle; meansfor measuring angles turned through by the vehicle; processing means for receiving data from the distance measuring means and angle measuring means and from the data receiving means and for supplying output data for aiding a driver of the vehicle to adhere to a route optionally computed bythe processing meansfromthe inputdata; and output means for supplying the output data in a form discernable by the driver.
The output means may function to provide a visual display, orto provide audible spoken information, or to provide both spoken information andthevisual display.
The main purpose of the system is to assist a vehicle driver to navigate from a given starting point to a desired destination along a route selected from data representing a map. The system employs a not volatile memory device for storing data representing a mapfora region, ora city ora village etc. The memory device may be designed as a plug-in unit and will be prepared in advanceforthe user.
The basic principle of operation ofthe system isto compare the vehicles current location on the road with the desired location on the map.
Data is entered into the system by the user by means of a portabie key board provided inside the vehicle.
Navigation and guiding instructions for the driver may be displayed on a visual display unit.
The vehicles location is determined preferably from the following devices: a compass located exter nally of the vehicle; a distance sensor deriving data from wheel rotation; and an angle sensor preferably deriving data from rotation of the steering wheel of the vehicle. If desired, two distance sensors may be provided associated with differing wheels.
An importantfeature ofthe system is that the correlation between the vehicles actual position and the current vehicle position assumed by the system is continually updated. This ensures thatthe system re mains accurately synchronised with the vehicle. In a preferred embodiment of the invention, the system resets itself every time the vehicle makes a significant turn. It is possible of course to identify the vehicles position with a certain degree of precision when a turn is made since the vehicle is forced to adhere to the public highways and roads whose posi- tions are accurately known and defined by data stored in the systems memory.
If desired,the system may be adapted to receive data from three different memory units. These three units may be: a. A country memory u nit which would normal Iy be an integral part of the system; b. A city u nit which may be a plug-in unitto allow for road map data ofvarious cities; and c. A plug-in memory unitforvarious special applications such as locations of favourite hotels, restaurants or sport arenas orfor playing games.
The country memoryunitwould normally store data representing all the main roads such as motorways or main cross-country highways and all main roads leading to city centres. The city plug-in unit would store all the roads within a certain city. The third plug-in unit can be adapted to various purposes in dependence upon the wishes ofthe user.
It is possible to employ the system only with the countrymemoryunitin place. Itwouldalsobepos- sible however to use the system with the country memory unit and the city memory unit. Itis also of course possible to employ the system with the countrymemoryunitandthespecial purpose unit and it is even possible to omit the country memory unit and rely only on one or both ofthe other units although, as stated above, the country memory unit will normally be an integral part of the system.
For a better understanding of the invention, and to show howthe same may be carried into effect, reference will now be made by way of example to the accompanying drawings which show embodiments of the invention: Figure 1 is a schematic diagram of a vehicle navigation system in accordance with one embodiment of the invention; Figure2 is a schematic block circuit diagram of apparatus for use in a vehicle navigation system according to Figure 1,thefigurecomprising Figures 2a, 2b, 2c, 2d, 2e, 2f, 29, 2h, 2i and 2j,thevariousfigures being combined together as shown in Figure3; Figure 3 is a diagram showing how the figures of Figure 2 are assembled together; Figure 4is a main program for operating a micro- processor forming part of the system illustrated in Figures 1 and 2;; Figures 5to 27 are further flow charts illustrating sub-routines ofthe main program; Figures 28 to 34 illustrate control techniques which may be employed in the system according to one embodimentofthe invention; Figures 35to 49 illustrate further flow charts of sub-routines employed within the context ofthe main program; Figures 50to 53 illustrate definitions oftiming data and signals; and Figures 53to 67 illustrate further flow charts of sub-routines for use within the context of the main program.
Before embarking on a detailed description ofthe systems, it will be useful to give a generalised description of the systems operation.
fleference will first ofall be made to Figure 1 which is a diagrammatic representation of apparatus used in the navigation system according to one embodiment ofthe invention. Figure 1 illustrates a central processing and control unit 1 having an input slot for receiving a memory unit la which will contain data representing streets, roads and junctions etc. The unit 1 is connectedto a self calibrated display 2 and a portable key board 3 for input of data. Furthermore, the system comprises a distance sensor 4 operably associated with one wheel of the vehicle, an angle sensor 5 provided on the steering wheel of the vehicle and a compass 6.The compass 6 is of a type providing an electrical output and thus the unit 1 receives data from the sensors 4 and Sand from the compass 6 and thus can determine the distance travelled by the vehicle, the angle turned through by the vehicle and its absolute orientation with respectto magnetic north at anytime.
In a preferred embodiment however, the compass 6 is used only to preset the vehicles orientation before commencement of a journey. During the journey, the unit 1 operates solely on data received from the distancesensor3 and angle sensorS and this is sufficiently accurate since the unit 1 can also work on the assumption thatthe vehicle is travelling only on recognised highways and roads. This enables the unit 1 to compensate for minor errors in positioning.
As far as the user is concerned, he drives the vehicle in the normal manner but follows instructions which appear on the display unit2 and furtherin- structionswhich may be supplied to him by spoken commands reproduced from magnetictape or from a speach synthesisor. Once the system is set up, and is provided with data defining the vehicles initial position and orientation, the first instruction appears on the display unit and is preferably arranged to flash and generate an audible bleeping noise before the instruction has been carried out. Afterthe instruction has been executed, the second instruction is displayed and this process is continued until the vehicle reaches the desired preset destination.
Each instruction will include guidance information and the name ofthe current street in which the vehicle is located. At every passage ofthevehicle through a main intersection orjunction,the userwill be notified of the intersecting street name and guidance information is presented to the driver both on the display and by means of an audible command of "left" or "right" or "forward". In dependence upon the vehicles speed, the guidance instruction will be supplied to the driver as a greater or lesser distance from the intersection.Preferably, at 30 kilometres per hour the instruction will be supplied to the driver at 50 metres from the junction, in the rangefrom 30to 60 kilometres per hour, an additional 10 metres will be added to the warning distance for every 5 kilometres per hour and in the range from 60 kilometres per hour upwards bigger additions will be made so that, for example, at90 kilometres per hour the warning distance will be 750 metres.
As an additional feature, in addition to the navigation function, the system may be utilised to provide a warning to check the vehicletyres for ware and tear.
In other words, the system may provide the userwith an indication of the total distance through which the individual tyres have travelled and upon reaching a present distance, such as 20,000 miles, the system may remind the user to checkthetyres.
Before the driver sets out on his journey, the system may be placed in a self test mode which indi cates that the system functioning is normal. The self test mode provides testing ofthe memory, the display,the key board and the input output facilities.
During travelling, normality of the system may be tested by making a comparison between the output of two sensors installed respectivelyto measure the speedometer reading and to countwheel revolutions.
If during the course of his journey, the driver becomes aware of unusual traffic situations or blocked roads, or decides to choose a particular road for part of his journey, the user may insert information through the key board to inform the system that a particular road either should not or should be used as part ofthe route. The system will then operate to selecta new route taking accountofthe inserted information.
As will be apparent, distance travelled by the vehicle is determined basically in accordance with the number of wheel revolutions. In orderforthis measure to be accurate, it is clearly necessary to know the circumference ofthe wheel fairly ac- curately. A scaling factor between the distance and number of wheel revolutions may be preset into the system memoryviathe manufacturer or assembler ofthe system. Preferably, the scaling factorwill be sufficiently accurate that the distance will be determined to an accuracy representing one wheel revolution in 500 kilometres.Forthis purpose, it is necessaryto have three different scale factors in dependence upon the type of tyres employed, which may be summer tyres, winter tyres or tyres provided with chains for use in icy conditions.
Asystem may also provide means to enable the userto correctthe scaling factor. This may be achieved by measuring the number of wheel re volutions counted by the system as the vehicle drives over a predetermined measured map distance. This allows the system to take account of any mechanical changes in the vehicle or any errors caused by a part icularly idiosyncratic manner of driving. For recalibration ofthe scaling factor, a distance of at least 20 kilometres should be employed. It may be recommendable to check the scaling factor every 5,000 kilometres.
It is also necessary to preset into the system a scal ing factor representative of the ratio of the angle of the vehicle relative to the road and the anglethrough which the steering wheel has been turned. This scaling factor is also preferably preset into the system memory during manufacture or assembly of the system. Again, the scaling factor may be reset bythe user. This may be necessary if the steering wheel system is changed or if changes occur in the mechanical properties of the vehicle. The scale factor is selec ted in dependence upon the maximum steering angle. The angle through which the steering wheel is turned from one side to the other gives an indication of the wheel angle relative to the steering wheel angle. It may be recommendable to resetthe angle scaling factor every 5,000 kilometres.
During operation of the system, preferably a data processing operation and test operation is executed every 200 metres during travelling. Distance data is added to a road counterforforward and reversedriv- ing and during this process the outputs of two sensors are compared for improved accuracy. In practice, a measured distance accuracy of 0.02% may be achieved. For a map of scale 1:1250, with a measuring accuracy of 0.05 metres a measured error of 12.5 centimetres will occurfor a typical distance between two road junctions. Although in a city like London which has relatively flat terraine height deviations give rise to no significant errors, in a city like San Francisco the height deviations must also be taken into account.
As the vehicle travels along a predetermined route, the measured vehicle position is continuallysynchronised with the actual vehicle position so that errors are never allowed to accumulate excessively.
This may be achieved by automatic synchronisation whenever the vehicle turns through a predetermined angle as measured bytheanglesensor. Everytime the vehicle position deviates by more than 40 metres from its previous course, the user may in addition be required to synchronise the system to a pred etermined junction point. By this means, the deviation calculation may be zeroed. If the user does not synchronise the system when required to do so, the system would nevertheless maintain its normal activity and would ask the user to effect synchronisation at the next available opportunity. Such manual synchronisation would normally be unnecessary.
The interface between the drive and the system will now be described in more detail.
Data entry is effected bythe user underthe systems guidance and control. The data entry stages are as follows: A. The user presses a "reset" keyandthesystem displays a request "name of present location?". Preferably, the user will be able to choose any one of three preset positions which may represent home, place ofwork etc and may simply insert "start" and then enters a digit 1,2 or3 and then the "enter" key.
The system then advances to stage G described below. As an alternative, the user may enter a name code for a particular area and press the enter key. The system will then verify the existence of the area and will then advance to stage B.
B. The system displays a message such as "driveto the first left hand junction on this road". When the user reaches this junction, he depresses the "enter" key and then the system advances to stage "C".
C. The system displays a message request: "name of present road"? The userthen inserts the name of the road or street and presses the enter key and the system then requests: "name ofjunction road left?" The user inserts the street name of the left hand intersecting road and presses the enter key. The system then checks the possibility of setting the current posi- tion as the junction defined by data entered in stages Aand B andthen advancesto stage E if thisispos- sible. If it is not possible with the data received the system advances to stage D.
D. If junction setting is impossible on the data received in stages A and B, the system displays the message: "drivetothe next left hand road junction".
When the user has reached the nextjunction, he presses the enter key and the system then returns to stage C and the sequence is repeated.
E. The system displays the message request: "are you behind the junction? enter yes or no".
The user inserts the appropriate response and then depresses the enter key.
The system will then display the message: "how long is the distance?".
After the distance has been entered in appropriate units, which may be adjusted in accordance with the users requirements, the user will again depress the entry key.
F. In this section ofthe program the system will set a starting junction. This is described in more detail under "data verification and fixing".
G. The system displays the message: "name of intended destination area?".
Afterthe desired destination area has been entered, the user will again depress the entry key.
H. The system displays the mesage: "choose route or place".
The user chooses whether he is to enter information selecting a route or a desired destination. Following this selection, he presses the entry key. If the user has selected " route", the system advances to section K. If he has selected "place", the system advances to section 1.
I. The system displays the message: "name of intended destination street".
The user enters the name of the street and depresses the entry key. The system verifies the existence of the street (as described under data verification and fixing) and moves to stage J.
J. The system displays the message: "type of intended destination".
The user enters data such as "restaurant" or "hotel " and depresses the entry key. The system verifies the existence ofthe place as described underdataverific- ation and fixing.
The system then displays the message: "name of intended destination place".
The user enters the name of the place and again depresses the entry key. The system verifies the existence ofthe place and sets the relevant "final junction". This again is described under the section "data verification and fixing".
K. The system displays the message: "is there any road you wish to use? answer yes or no".
The user enters the appropriate response and depresses the entry key. If the user response is negative, the system advances to stage M.
L. If the users answer is positive, the system dis plays the message: "insert road: from: to:" The user inserts the appropriate data and depresses the entry key.
The system then displays the message: "others? answeryes or no".
If the users answer is positive, the system returns two step L. If the answer is negative, the system advances to step M.
M. The system displays the message: "any road you wish to avoid?" If users answer is positive, the system advances to step N. If the answer is negative, the system advances to step 0.
N. Thesystem displaysthemessage: "insert road: from: to:" The user inserts the required data and depresses the entry key The system then displays the message: "others, answeryes or no If the users response is positive, the system returns to step N. Ifthe answer is negative, the system advances to step 0.
O. The system advances to the route marking out stage.
Data verification and fixing Data verification is carried out in parallel to entry of data bythefollowing steps: A. Verification of the zone name. In the case of a place, the place name and type will be verified as soon as they are entered.
B. Setting of the start junction and its data verification will be carried out after entry of all the data defin ingthestartjunction.
C. Setting ofthe end junction and its data verification will be carried out after setting of the startjun- ction and entryofthe end junction data.
D. During the data verification stage: 1. The system will check if the inserted names are correct. In the event of a wrong data entry, the system will display a suitable message, with the remark: "try again".
2. The system will guide the user with a request for insertion of an appropriate casette by displaying the message: "put in casette numberX".
3. The system will checkthatthe correctcasette was entered. In the event of a mistake, it will display thesuitable announcement again, adding the remark: "try again".
As soon as data verification and fixing has ended, the system will display the message: "wait".
Reference is directed to the accompanying Appendixforming part ofthis specification which describes in more detail the operations described in the above and also describes details ofthe operations carried out for route marking and selection and data processing. The attached Appendix is divided into fourchapters as follows: Chapter 1: The Systems Propertiesforthe User.
Chapter 2: The Man-Machine Interface.
Chapter3: Map Storage and Data Base Formats.
Chapter4: Distance Conversion and Correllation.
Chapter 5: Route Execution.
The system whose operation and functioning has been described in general terms in the foregoing may be implemented by means of the hardware illustrated in Figures 2a to 2j and 3. As will be noted,the hardware basicaliy consists of a plurality of integrated circuit modules which include in addition to a 10 megahertz clock generator, timing and control logic, an address decoder, and various memory chips, the primary component ofthe system which is an 8085 A2 microprocessor which functions as the central processing unit ofthe system. Interface logic is provided for decoding signals received from the steering transducer and from the compass transducer and the wheel revolution counter.Electrical socket connectors are provided for receiving electrically programable read only memory chips each of which contains data representing a road or street map. The data is stored in these EPROMS in the manner indicated in the appendix to this specification.
Stored in non-volatile memory, is a control program for operating the microprocessor. The main program for carrying outthis control is illustrated in Figure 4 and various sub-routines which form part of the main program and supplementitsfunctioning are illustrated in Figures Sto 27.
Figures 28 to 34 illustrate techniques which may be employed in synchronizing orcorrelating the sys- tems memory with the actual position of the vehicle.
Various system flags are also defined and illustrated in these figures.
Figures 35 to 49 illustrate furthersub-routines which are concerned, inter alia, with synchronisation or correllation of the actual vehicle position with the internally stored position ofthe vehicle, which the system utilisesto produce its prompt and warning messages.
Figures 50 to 52 illustrate further data and information relating to timing functions and parameters used bythesystem.
Figures 53 to 67 illustrate further flow charts concerned particularlywith the various routines for controlling the man-machine interfaceforthe interactive part of the name system program.
Further details ofthe operation ofthese routines and sub-routines may be understood from reference to the accompanying Appendix forming part ofthis specification. It should however be pointed outthat each sub-routine has a reference code such as "INST SNC" indicating "instruction synchronisation",this sub-routine forming the first main part of the main program illustrated in Figure 4 and being setforth in more detail in Figure 5. This sub-routine in turn is sub-divided into further sub-routines each having its own reference code. By use of these reference codes, the inter-relationship between the sub-routines may be readily discerned.

Claims (10)

1. Avehicle navigation system comprising: opti onal means for receiving data indicating vehicle position; means for storing data representing a road network; means for measuring distance travelled by a vehicle; meansformeasuring anglesturnedthrough by the vehicle; processsing means for receiving data from the distance measuring means and angle measuring means and from the data receiving means for supplying output data from aiding a driver of the vehicle to adhere to a route optionally eomputed bythe processing means from the input data; and output means for supplying the output data in a form discernable by the driver.
2. A system according to claim 1 wherein the output means provides at least one of a visual display and an audible spoken output.
3. A system according to claim 1 or 2 comprising means for receiving a non-volatile memory device storing data representing a street map.
4. A system according to claim 3 wherein the memory device is a plug-in unit.
5. Asystem according to any one ofthe preceding claims further comprising a compass located externally of the vehicle and arranged to provide an electrical output representing the vehicle orientation; a distance sensor arranged to derive a signal representing distance travelled by the vehicle; and an angle sensor arranged to supply a signal indicating angular position ofthevehicle.
6. A system according to any one of the preceding claims wherein said means for measuring distance comprises a transducer device arranged to provide an electrical signal representing vehicle wheel rotation.
7. A system according to any one of the preceding claims wherein said means for measuring angles comprises a transducer device arranged to provide an electrical signal representing angular position of a steering wheel ofthevehicle.
8. A system according to any one of the preceding claims wherein said processing means comprises a microprocessor unit and a read only memory storing.
9. Avehicle navigation system substantially as hereinbefore described with reference to the accompanying Appendix.
10. Avehicle navigation system substantially as hereinbefore described with reference to the accompanying drawings.
GB8615376A 1985-06-24 1986-06-24 Vehicle navigation system Expired GB2180066B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB858515942A GB8515942D0 (en) 1985-06-24 1985-06-24 Vehicle navigating apparatus

Publications (3)

Publication Number Publication Date
GB8615376D0 GB8615376D0 (en) 1986-07-30
GB2180066A true GB2180066A (en) 1987-03-18
GB2180066B GB2180066B (en) 1989-07-12

Family

ID=10581242

Family Applications (2)

Application Number Title Priority Date Filing Date
GB858515942A Pending GB8515942D0 (en) 1985-06-24 1985-06-24 Vehicle navigating apparatus
GB8615376A Expired GB2180066B (en) 1985-06-24 1986-06-24 Vehicle navigation system

Family Applications Before (1)

Application Number Title Priority Date Filing Date
GB858515942A Pending GB8515942D0 (en) 1985-06-24 1985-06-24 Vehicle navigating apparatus

Country Status (1)

Country Link
GB (2) GB8515942D0 (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989003562A1 (en) * 1987-10-16 1989-04-20 Digital Equipment Corporation Computer interconnect coupler for clusters of data processing devices
EP0314398A2 (en) * 1987-10-30 1989-05-03 Aisin Aw Co., Ltd. Navigation apparatus based on present position calculating system
FR2628243A1 (en) * 1988-03-03 1989-09-08 Bosch Gmbh Robert METHOD AND APPARATUS FOR REPRESENTING INFORMATION CONCERNING GUIDANCE ON A ROUTE, IN PARTICULAR FOR MOTOR VEHICLES
GB2216264A (en) * 1988-02-23 1989-10-04 Toshiba Kk Vehicle navigation apparatus and method
EP0349652A1 (en) * 1987-12-28 1990-01-10 Aisin Aw Co., Ltd. Vehicle navigation system
EP0359150A2 (en) * 1988-09-13 1990-03-21 Bayerische Motoren Werke Aktiengesellschaft Vehicle position display device
GB2222897A (en) * 1988-04-08 1990-03-21 Eliahu Igal Zeevi Vehicle navigation system
EP0375816A1 (en) * 1988-12-30 1990-07-04 Aisin Aw Co., Ltd. Navigation apparatus
US5040122A (en) * 1987-05-06 1991-08-13 Robert Bosch Gmbh Method and system to determine the position of a land vehicle during movement over a predetermined path
EP0682227A1 (en) * 1994-05-13 1995-11-15 Pioneer Electronic Corporation Navigation system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2020019A (en) * 1978-04-26 1979-11-07 Bodenseewerk Geraetetech Navigational instrument
GB2060880A (en) * 1979-09-12 1981-05-07 Licentia Gmbh Arrangement for determining and indicating position and course during journeys in land vehicles
GB2121176A (en) * 1982-05-17 1983-12-14 Honda Motor Co Ltd Current location indication apparatus for a mobile vehicle
EP0110171A2 (en) * 1982-11-20 1984-06-13 TELDIX GmbH Vehicle positions locating arrangement
EP0158214A2 (en) * 1984-03-28 1985-10-16 Hitachi, Ltd. Navigation system with capability of instructing running direction

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3241023A1 (en) * 1982-11-06 1984-05-10 Robert Bosch Gmbh, 7000 Stuttgart METHOD AND DEVICE FOR TARGETING AGRICULTURAL VEHICLES

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2020019A (en) * 1978-04-26 1979-11-07 Bodenseewerk Geraetetech Navigational instrument
GB2060880A (en) * 1979-09-12 1981-05-07 Licentia Gmbh Arrangement for determining and indicating position and course during journeys in land vehicles
GB2121176A (en) * 1982-05-17 1983-12-14 Honda Motor Co Ltd Current location indication apparatus for a mobile vehicle
EP0110171A2 (en) * 1982-11-20 1984-06-13 TELDIX GmbH Vehicle positions locating arrangement
EP0158214A2 (en) * 1984-03-28 1985-10-16 Hitachi, Ltd. Navigation system with capability of instructing running direction

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
WO 84/01823 *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5040122A (en) * 1987-05-06 1991-08-13 Robert Bosch Gmbh Method and system to determine the position of a land vehicle during movement over a predetermined path
WO1989003562A1 (en) * 1987-10-16 1989-04-20 Digital Equipment Corporation Computer interconnect coupler for clusters of data processing devices
EP0335964A1 (en) * 1987-10-16 1989-10-11 Digital Equipment Corporation Computer interconnect coupler for clusters of data processing devices
EP0314398A2 (en) * 1987-10-30 1989-05-03 Aisin Aw Co., Ltd. Navigation apparatus based on present position calculating system
EP0314398A3 (en) * 1987-10-30 1992-04-22 Aisin Aw Co., Ltd. Navigation apparatus based on present position calculating system
EP0349652A1 (en) * 1987-12-28 1990-01-10 Aisin Aw Co., Ltd. Vehicle navigation system
EP0349652A4 (en) * 1987-12-28 1991-12-11 Aisin Aw Co., Ltd. Vehicle navigation system
GB2216264B (en) * 1988-02-23 1992-02-12 Toshiba Kk Navigation apparatus and matching method for navigation
US4989151A (en) * 1988-02-23 1991-01-29 Kabushiki Kaisha Toshiba Navigation apparatus and matching method for navigation
GB2216264A (en) * 1988-02-23 1989-10-04 Toshiba Kk Vehicle navigation apparatus and method
FR2628243A1 (en) * 1988-03-03 1989-09-08 Bosch Gmbh Robert METHOD AND APPARATUS FOR REPRESENTING INFORMATION CONCERNING GUIDANCE ON A ROUTE, IN PARTICULAR FOR MOTOR VEHICLES
GB2222897A (en) * 1988-04-08 1990-03-21 Eliahu Igal Zeevi Vehicle navigation system
EP0359150A2 (en) * 1988-09-13 1990-03-21 Bayerische Motoren Werke Aktiengesellschaft Vehicle position display device
EP0359150A3 (en) * 1988-09-13 1992-06-03 Bayerische Motoren Werke Aktiengesellschaft Vehicle position display device
EP0375816A1 (en) * 1988-12-30 1990-07-04 Aisin Aw Co., Ltd. Navigation apparatus
EP0682227A1 (en) * 1994-05-13 1995-11-15 Pioneer Electronic Corporation Navigation system

Also Published As

Publication number Publication date
GB8615376D0 (en) 1986-07-30
GB8515942D0 (en) 1985-07-24
GB2180066B (en) 1989-07-12

Similar Documents

Publication Publication Date Title
US4878170A (en) Vehicle navigation system
US4937751A (en) Navigation apparatus
US4939662A (en) Navigation apparatus
EP0375817B1 (en) Navigation apparatus
US5850618A (en) Navigation device
EP1995557B1 (en) Position registration device, route search device, position registration method, position registration program, and recording medium
US6253153B1 (en) Vehicle navigation system and method
GB2079453A (en) Route selection and guidance apparatus and method
JPH06331379A (en) Onboard navigation apparatus
GB2180066A (en) Vehicle navigation system
EP1995558A1 (en) Position registration device, route search device, position registration method, position registration program, and recording medium
JP3418080B2 (en) Map matching method for car navigation system
EP0355232A2 (en) Road drawing system for a navigation apparatus
US6862522B2 (en) Method for automatically establishing and updating a table of distances
AU2001290479A1 (en) Method for automatically establishing and updating a table of distances
JP2664430B2 (en) Car navigation system
JP3395929B2 (en) Navigation device
JP3482917B2 (en) Car navigation system
EP0375816B1 (en) Navigation apparatus
JP2011247845A (en) Current position display device
JP3459488B2 (en) In-vehicle route search device, recommended route display method, and route search method
JP2001356024A (en) Selection method for guide information in navigation display
CA1296412C (en) Vehicle navigation system
JP2892631B2 (en) Car navigation system
JP3445019B2 (en) In-vehicle route search device, recommended route display method, and route search method

Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee