TW201116805A - System and method for vehicle navigation using lateral offsets - Google Patents

Abstract

A navigation system for use in a vehicle (402). The system includes an absolute position sensor, such as GPS, in addition to one or more additional sensors, such as a camera, laser scanner, or radar. The system further comprises a digital map or database that includes records for at least some of the vehicle's surrounding objects (400). These records can include relative positional attributes with respect to a reference axis (404). As the vehicle (402) moves, sensors sense the presence of at least some of these objects (400), and measure the vehicle's relative position to those objects. This information is used to determine the vehicle's instantaneous lateral offset (428) relative to the reference axis (404), and support features such as enhanced driving directions, collision avoidance, or automatic assisted driving. The system also allows new objects (408, 414) to be attributed using relative positioning, and thereby factored into the enhanced navigation features.

Description

201116805 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates generally to digital maps, geolocation systems, and vehicle navigation's and, in particular, to systems for navigating and piloting vehicles using absolute and relative coordinates and method. [Prior Art] Navigation systems, electronic maps (also referred to herein as digital maps), and geo-positioning devices have been used in vehicles to assist the driver by various navigation functions such as: determining the overall position of the vehicle and Orientation; find destinations and addresses; calculate optimal routes (perhaps with the aid of instant traffic information), and provide instant driving guidance including access to business listings or yellow pages. Typically, the navigation system depicts the street network as a series of line segments that include a centerline that travels generally along the center of each roadway. The mobile vehicle can then be positioned generally on the map near the centerline or co-located with respect to the centerline. - Some = period vehicle navigation systems rely primarily on relative position determination sensors along with "estimation" features to estimate the current position and direction of travel of the vehicle. This technique tends to accumulate a small amount of positional error, which can be corrected by the "map matching" algorithm. The map matching algorithm compares the calculated position of the location calculated by the vehicle computer with the digital map of the centerline of the lane to find the most appropriate point on the map's street network (in the case where this point can actually be found). The system then updates the location of the peak of the vehicle to match the possibly more accurate "updated location" on the map. Introduced. In the case of the Geographical Positioning System (Gps) satellite receiver hardware 144240.doc 201116805, a GPS receiver or GPS unit can be added to the navigation system to receive the satellite number and use this signal to directly calculate the absolute position of the vehicle. . However, map matching is still commonly used to eliminate errors within the GPS system and within the map, and more accurately show the driver his/her position on the map (or relative to the map) even on a global or macro scale. Satellite technology is extremely accurate; however, small positional errors still exist on local or microscopic scales. This is mainly because the GPS receiver can experience intermittent or poor signal reception or k-way multiplexing, and also because the centerline representation of the street and the actual location of the GPS system can only be accurate to a few meters. Higher execution systems use a combination of inferred (DR)/inertial navigation system (INS) and Gps to reduce position determination errors, even in this combination, the error can occur on the order of a few meters or more. Inertial sensors provide the benefit of medium distances, but even at larger distances, even systems with inertial sensors accumulate errors. While vehicle navigation devices have evolved over time to become more accurate, feature-rich, cheaper, and more popular, they still lag behind the increased demand in the automotive industry. In particular, it is expected that future vehicle navigation applications will require maps that are more accurate, and even more detailed, accurate, and feature-rich. Possible enhanced applications are likely to include: adding more precise navigation guidance features to the vehicle's navigation features such as improved graphics support and better availability and convenience to the driver; and adding such as Various safety applications can be impacted, depending on the exact knowledge of the location and direction of travel of the vehicle relative to other nearby moving and stationary objects, including other vehicles. In this case, the accuracy of approximately 5 to 1 metre in the contemporary consumer navigation system is considered to be insufficient. Xianxin, the system needs to be accurate many times. 144 144240.doc 201116805 To meet these future needs, the automotive industry explores ways to improve the accuracy of digital maps and the accuracy of vehicle position determination (eg, GPS, etc.). At the same time, the digital mapping industry, represented by companies such as Tele Atlas, is placing a larger amount of information on its digital map. This added information is being combined with much higher accuracy to better support advanced future applications. Examples of features now included in a digital map include: accurate representations of multiple lanes within a particular street or road; locations of their lanes and barriers, such as identification of objects on the street and building footprints And location; and the inclusion of objects within the rich three-dimensional (3D) representation of the actual building appearance and other features. When the navigation system has sufficient quasi-rock damage and map details to allow the vehicle position to break, the vehicle position is matched to the appropriate street centerline, and thereby the vehicle is displayed in the appropriate place with respect to the centerline map. From here, the system can help the driver with orientation, route selection and guidance. However, this level of precision is insufficient in detail and in terms of accuracy to inform the driver which driving lane he/she may be in (and therefore cannot give a more detailed driving guide), or cannot warn the driver that he/she may In the danger of collision. In fact, in today's mapping systems, most non-highway road systems are depicted on a map by a single centerline for vehicles traveling in both directions. By using modern map matching techniques, vehicles appear to travel along the same line, and thus will always appear to be in danger of colliding with respect to each other. Or 'for a digital map that represents the road on the map by the centerline in each direction, the car traveling in each direction will match the appropriately oriented components of the 144240.doc 201116805 1 and 4 segments, and the car In the case of observation with respect to each other, it will never appear to be in a position to be collided, even if the situation is quite different in reality. U.S. Patent Publication No. 2/8/0243378 proposes to add attribute information about map data and library objects 'this attribute data includes relative position coordinates having relative relative accuracy with respect to objects in the vicinity of the object; and in the vehicle Add a sensor system that detects objects in the vicinity of the object. The actual package example of the invention is '. It is also juiced to meet the advanced needs that the automotive industry is striving for, including the high accuracy of location accuracy for both on-board position determining equipment and digital maps. For example, in order to know which lane the vehicle is moving in, a combined error budget of no more than 1 to 2 meters is required. The use of objects to avoid (for example, to prevent collisions with oncoming vehicles that deviate from the outside of their lanes) may require a combined error budget of less than 10,000 meters. Achieving this situation requires even smaller tolerances in both vehicle position determination and map. The system is designed to use a nominally absolute accuracy in conjunction with higher relative accuracy to achieve overall better accuracy and to customize this face in an efficient manner. #The object position with higher relative accuracy only needs to be absolutely coupled to the absolute position of the same object with lower accuracy. Figures 1 through 10 are taken directly from US 2008/0243378 and provide the context of the present invention. Figure 1 shows an environment 102 for vehicle navigation using both absolute and relative coordinates. A typical street scene, along with cars, lanes, road signs, objects, and buildings, can be stored in a digital map or map database along with each of the included stationary objects as a record in the library. Marks, j, and 1 identify individual paint lines that may be found on the street 144240.doc 201116805 and other items. The solid line marked p indicates the single line of the road. Note that centerline p is a non-physical feature and may or may not be the actual paint strip that marks this center. Lines J and κ are closely spaced together and indicate that the typical double yellow markings or lines 1 and L found in the middle of the two-way road represent the lane dividing line, while the lines η and Μ represent the street curb. F G, is [and 〇 represent buildings. The marks α, β, c, and D indicate the title '忒 or cautions' such as the 'speed mark, the stop sign, and the street name. The first vehicle (ie, the car) is shown as traveling toward the top of the page on the street (eg, traveling north), while the first: vehicle (ie, another car) 1G6 is traveling toward the bottom of the page (eg, toward Driving south). Each of the vehicles 1() 4, 1G6 in this example includes a navigation device, which in turn includes an absolute position determining device such as a GPS receiver to determine (initial) the three-way device can include a Gps device to be used in conjunction with The inertia or Di sensor improves the estimated position and continues to provide a good estimate of the position, even when the GPS unit briefly loses satellite reception. Each of the car-assisted (10) and mid-range navigation devices may also include a map database and a map matching algorithm. Vehicles 1〇4,1〇6 contain one or more additional sensors, such as cameras, laser scanners or radars, J: Auxiliary-rear--", the center of the heart is more slavish. The navigation system is a combination of digits from the digital The map and the information of the vehicle sensor to determine the more accurate position of the vehicle at the track =. The combination of these features makes the navigation and collision § ° more useful. The guidance of the vehicle towel (four) unified step - step contains a digital map Or a digital map database comprising at least some of the surrounding objects 'such as those marked by the letter AA 。. The additional sensor may sense 144240.doc 201116805 then the presence of at least some of these objects A to ,, And the relative position (distance and orientation) of the objects can be measured. This sensor information is used together with the absolute information to determine the exact position of the vehicle and, if necessary, support such as assisted driving or collision avoidance. Depending on the accuracy of the sensor, it is easy to identify (for example) road signs and estimate the road; the relative position of the vehicle relative to the position of the vehicle is only a few centimeters in accuracy (the position of the vehicle can be It has an estimated absolute positional accuracy of several meters. In the case of current drawing accuracy, the same mark can be added to the database with a property of a position that is also about a few meters of absolute accuracy. Therefore, map matching The problem becomes a problem of clearly identifying one of the objects with appropriate characteristics in the database within a search radius of, for example, 1 metre around the vehicle. Sensors in the same object in the two vehicles 1〇4, 1〇6 In the example of the range, the sensor that is loaded by each vehicle may not have direct (D)® or sensitive green for other vehicles. There may be obstacles such as blocking the slope of direct sensor detection. 'However, each sensor in the vehicle can detect common objects such as the logo person in the map. Each vehicle can use "map matching based on objects" to use the vehicle and both in the map. 7 The absolute position of the absolute position is matched to the mark and Α. Unlike the typical "map matching" feature mentioned above as part of an older navigation system (which is relative to the road included in the ground (the line matches the estimated vehicle), the map matching based on the object is relative Matching the estimated position with the characteristics of the physical object sensed by the vehicle in one or more physical objects and their characteristics in the map, thereby clearly matching to the same object. And then ρ 144240.doc 201116805 The direction of the light is estimated to be light, and each vehicle 1〇4,1〇6 can then calculate a more accurate relative position (within a few centimeters) relative to the marker A. This information may then be, for example, the speed of the vehicle (10) The information is used together with I to estimate the possible collisions with a full accuracy of 10 Γ. In the system with the G component between the vehicles (7) 4, 1, the common map object identification and the relative position of the common map object reference and Communication in the direction of travel provides the accuracy necessary to allow reliable detection of possible collisions in the event of a sufficiently small false alarm. All that is required is a common map object identification scheme and common office. Relative coordinate system. As has been widely proposed, 'common object recognition can be ensured by installing radio frequency identification (RFID) tags or similar tags on objects. Each vehicle can then sense the RFID tag on the object, and can This identifier is used as another means of minimizing the errors involved in identifying common objects. In the most general case, the vehicles 104, 1〇6 are outside the sensed range of the common reference object. In these cases, two The sensor carried by the vehicle may not be able to detect other vehicles or common objects, but may still be able to detect examples of nearby objects and & there may be no convenient common items such as the sign A. Actually, the vehicle 104 Only signs 8 and c can be detected; and the vehicle 〇6 can only detect the target D. However, the vehicle 1 can obtain extremely accurate relatives based on its relative sensor measurements from objects B and C. Position and driving direction. Similarly, the vehicle 1〇6 can obtain extremely accurate relative position and driving direction from the measurement of its object D and its driving direction. Because B and C and D have the same as stored in the map. The exact relative position of each other in the library, so these exact relative positions can then be used by the vehicle for improved driving 'route guidance and collision avoidance. As long as the vehicle 1〇4,1〇6 uses the same mark 144240.doc 201116805 The relative position m can communicate accurate position, respect direction and speed information to each other to calculate the trajectory and possible collisions. The objects in the digital map (such as 'flag B, caD) have accurate relative measurements with each other. This situation can be facilitated by placing objects on a common, relative coordinate system (ie, by providing objects with relative coordinates from a common system) and then storing information about their coordinates. The vehicle is then captured in a digital map for vehicles with this map and system while the system is moving. In this example, the vehicle 104 can then accurately determine its position and direction of travel on the relative coordinate system; and the vehicle 1〇6 can be the same. When the communication component is included in the navigation system, the vehicle can exchange data and can accurately determine whether there is a possibility of collision. The 'data' can be fed to a centralized or decentralized off-the-counter processor for calculation, and the result can then be sent down to the vehicle or used to adjust infrastructure such as vehicle speed limits or warning lights or stop lights. Figure 2 shows a navigation system 130 for vehicle navigation that does not use absolute coordinates and relative coordinates. The navigation system 130 can be placed in a vehicle, such as a car, truck, bus, or any other moving vehicle. Alternate embodiments may similarly be designed for use in shipping, aerospace, handheld navigation devices, and other activities and uses. The navigation system 130 includes a digital map or map database 13 4, which in turn includes a plurality of maps or map databases 134 Object information 136. Some or all of the object records include information about the absolute and relative position of the object (or the original sensor sample from the object). The navigation system 13 further includes a position sensor subsystem 140 that includes one or more absolute positioning logic 142 and 相对s 144240.doc 11 201116805 of the relative positioning logic 144. Absolute positioning logic obtains data from an absolute position sensor 146 that includes, for example, a GPS or Galileo (GaHie(R)) receiver. This information can be used to obtain an initial estimate of the absolute position of the vehicle. The relative positioning logic obtains data from, for example, radar, laser, optical (visible), RFID relative position sensors 148 or wireless inductive sensors 丨5〇. This information can be used to obtain an estimate of the relative position or orientation of the vehicle compared to the object. The object may be known to the system (in the case where the digital map will include a record of the object), or unknown (in the case where the digital map will not include the record). Navigation logic 160 includes a number of additional optional components. The object selector 162 can be included to select or match which objects will be retrieved from the digital map or map database and used to calculate the relative position of the vehicle. Focus generator 164 is included to determine a search area or zone around the vehicle that is generally centered at an initial absolute position. During use, map matching based on the object is performed to identify appropriate items within the search area, and information about the objects can then be retrieved from the digital map. As described above, communication logic 166 can be included to The navigation system from one vehicle is communicated to the navigation system in another vehicle either directly or via some form of branch infrastructure. The object-based map matching logic 168 can be included to match the object detected by the sensor to its attributes, to know map features (and their attributes) such as the track mark, and other known reference points. Instead, an object can be a collection of original samples that directly match the corresponding original samples stored in the map. The vehicle position determination logic 17 接收 receives input from each of the sensors and other components to calculate the exact position (and orientation (if needed) of the vehicle relative to the digital map, other vehicles, and other items. The vehicle feedback interface 174 receives information about the location of the vehicle 144240.doc •12- 201116805 汛. The poor news can be used for driver feedback 丨 80 (in this case, the information can also be sent to the driver's navigation display 丨 78). This information can include location feedback, detailed route guidance, and collision warnings. Information can also be used for automatic vehicle feedback 182 'such as brake control and automatic vehicle collision avoidance. Figure 3 shows a database of digital maps 134 or maps of absolute coordinates and relative coordinates. The digital map 134 or database contains a plurality of objects corresponding to a plurality of objects in the real world that can be represented on the map. Some items of holes such as the unpainted centerline of the road as described above may not be true in the sense that they are physical, but nevertheless they may be represented as objects in the digital map 134. Some (or all) of the plurality of objects 2〇〇 include one of absolute coordinates 2〇2 and/or relative coordinates 2〇4. In any digital map 134, some of the map objects may not have an actual physical location and are only stored in a digital map by being associated with another (entity) object. Additionally, map 134 can include a number of non-navigation attributes. More importantness with regard to this situation is that they do have known physical locations and they are available for relative location functions. Objects such as object A have both absolute coordinates and relative coordinates. Absolute coordinates can include any absolute coordinate system such as a simple latitude longitude (lat-long) and provide the absolute position of the object. Absolute coordinates may have additional information associated with the item, such as the attributes or other properties of the item. The relative coordinates may include any relative coordinate system such as Cartesian (x, y, z) or polar coordinates and provide the relative position of the objects. The relative coordinates may also have additional information associated with the item' that additional information includes, for example, the accuracy associated with the item record or the last day of the updated record. The relative coordinates are also included m 144240.doc •13- 201116805 Another object or the exact relative position to any origin = up to (four) coordinates for convenience, this is because all relative two f, 曰. The payout—the difference between the coordinate set and the other set of coordinates is measured' and is offset by any origin. The relative coordinates of a particular object may indicate location information to indicate how multiple different types of sensors may be used or use different relative coordinate systems to make the object viewable. ~, each additional object 21 of the digital map 134 may have the same type of information stored with it (for example, building, secondary label), and the same can be used. 'And more important objects that only include absolute position and are enabled by relative position (such as street corners, main signs) should include both absolute and relative positioning coordinates. Some larger objects may have more information describing the particular aspect of the object (e.g., the northwestern edge of the building), which in turn provides the appropriate accuracy and accuracy. As described above, the absolute position or coordinates of the object in the absolute coordinate system are provided by means of a common object identifier (ID) such as ULR0 to provide a connection between the relative position or coordinates of the same object in the relative coordinate system. In this way, a close mathematical connection between the two coordinate systems is not required. In fact, this coupling can reduce the benefits of the system because the relative coordinate system is extremely accurate relative to nearby objects, but can accumulate random errors when measured relative to distant objects. This will have the effect that if the relative position is arbitrarily equal to its absolute position at one point, the relative position will appear to have a large error compared to its absolute coordinate at large distances between objects (assuming a distance greater than 10 km). . Figure 4 shows the method for navigating with absolute coordinates and relative coordinates. 144240.doc •14- 201116805 Method. In a first step 230, the vehicle navigation system uses a Gps, Galileo or similar absolute positioning receiver or system to determine the (initial) absolute position of the vehicle. This initial step may also include combining or using information from the ins or DR sensors, as desired. . In a subsequent step 232, the system uses the onboard vehicle sensor to find the location of the surrounding objects and the orientation of the surrounding objects. In step 234, the system based on the estimation of the absolute accuracy of the vehicle and the map then uses the knowledge of the absolute position of the vehicle to access the objects in the appropriate search area of the digital map (or map database). . The search area may be centered on the estimated current position of the vehicle, or centered on the actual or estimated position of one of the objects, or centered on the estimated excess position read from the sensor. The system uses the relative positions of the sensed objects (as needed, along with one or more of the measured characteristics of the objects, such as 'size, severity, color, shape, classification, etc.), the system uses in steps 236 and 238 Object-based map matching ("object matching") uniquely identifies the sensed object and extracts related object information. In step 24, the relative object information and the relative position of the objects (along with the optional direction of travel information) allow the vehicle navigation system to calculate the exact relative position of the vehicle within the relative coordinate space or relative coordinate system. In step 242, this exact location is then used by the system to place the vehicle in a more accurate position relative to the nearby object and to provide the driver or the vehicle itself with the necessary feedback regarding the location, including providing the Auxiliary pilot, anti-collision warning or other assistance. Absolute position information and relative position information can also be combined to calculate the exact absolute position of the vehicle. This exact position can again be used by the system to place the vehicle in a more accurate position within the relative coordinate system, providing feedback to the driver or to the vehicle itself 144240.doc 15- 201116805 on the location's feedback including collision warning, piloting Or other assistance. A more accurate absolute position can also be used to reduce the size of the search area for subsequent map matching based on the object. Figure 5 shows an alternative method for navigating using absolute coordinates and relative coordinates. In a first step 260, the vehicle navigation system determines the (initial) absolute position of the vehicle using (10), Galileo or similar absolute positioning receiver or system. In step 262, the system then uses the focus generator to determine that the search zone 1 of the initial position is the same as the actual situation, depending on the particular implementation, the search zone* may be centered on the estimated current position of the vehicle, or in the object. One of the actual or estimated locations is centered, or an alternative component is used. In a subsequent step 264, the system uses a digital map (or map database) to extract object information for their objects in the search area. The system then uses its onboard vehicle sensor in step 266 to find the location of their objects and the orientation of their objects. By using the relative position of the sensed object (as needed, along with one or more of the measured characteristics of the objects, eg, size, height, color, shape, classification, etc.), the system uses the object based in step 2 The map matches to match the sensed information to objects in the search area. At step 27, (4) the object information and the relative position of the objects allow the car to the navigation system to calculate the exact relative position of the handle in the relative coordinate space or relative coordinate system. As in the prior art, this exact position is then used by the system to place the vehicle in a more accurate position within the relative coordinate system in step , and to provide the driver or the vehicle itself with the necessary feedback regarding the position, which feedback Including the provision of anti-collision auxiliary mm when necessary, the relative positioning is used to add an attribute without storing the information of the absolute bit 144240.doc -16· 201116805. Using this method, the first object may lack any stored information about the location, while the second object may have absolute location information. The position at which the first object is measured relative to the second object (or a series of relative jumps through the third, fourth, etc. objects) is counted. The first object phantom explicitly points to the second object, or the second object must be found as part of the network of objects surrounding the "object." The relative position information can be used to provide an estimate of the absolute position of the first object. For example, Lu's road or roadway. Lines can be added to the absolute coordinates = the mother of the road - the rut can then add the attribute of the relative offset seat * for the center line. Because of the relative position in many cases Absolute position comparisons allow for more accurate measurements, so this technique provides a fairly accurate estimate of the absolute position of the object, as long as the distance from the positively measured object to the object with absolute measurement (or the number of relative jumps) Not too large, too large a distance will reduce the overall accuracy. One of the advantages of this technology is that it requires much less lean storage, while still providing accurate absolute object position information. Figure _ looks like Figure 1, but A more detailed description of the environment in which the vehicle navigation system and method are used. The street scene previously shown in Figure β together with cars, lanes, road signs, objects and buildings The same reference character is used to indicate. For example, the 'car' has a car navigation system, and the vehicle navigation system is used (for example, the absolute position 294 is determined. The sensor on the vehicle 1〇4 determines to - or multiple objects (for example, street_cafe) distance fan, 3〇2 and orientation. Obtain information about all objects in the search area defined by the map and the current absolute position to determine the estimated accuracy. I44240.doc -17 - 201116805 Information used by the navigation system to determine the accuracy of the vehicle 104 relative to roads, street attachments (Roadstones, signs, etc.) and other wheels as needed (the navigation system in their vehicles includes appropriate communication components) Location. This accurate location information can then be used for improved vehicle navigation 'guidance and collision warnings and avoidance. Figure 7 shows another method for navigating with absolute coordinates and relative coordinates, which illustrates absolute position information and relative position How the information can be combined to determine the exact absolute position of the vehicle. This exact position can be used again by the system to place the vehicle in a relative coordinate system. Accurate position. The more accurate absolute position can also be used to reduce the size of the search area used by the subsequent object-based map matching system. In the first step 3〇8, the detector (usually based on absolute coordinates) is used for position determination. In step 31, the vehicle then uses its object detection sensor to detect, characterize, and measure it.

Previously, using Bebe J to use the relative position to determine the vehicle position would probably not be full 144240.doc 201116805 1. However, under normal driving conditions, the driver will be in the opposite direction of the object: there is a (four) in the soil and his vehicle will see the object almost continuously or every few meters. In this environment and under the material conditions, the position is extremely quasi-phase, even higher than absolute accuracy. In step 314, ten uses its matching algorithm (including from the sensor and the ground: the characterization system can then uniquely identify "see:: pieces. In step 316, use the relative from the map database. Measure and (if f) the navigation system 'either its own _ or brain direction, the vehicle can be sure: its exact relative coordinates. For example, 'if the match is only one object, and if the vehicle has something for the object For the measurement of distance and relative azimuth, the navigation system can define its position only along the circular path of the point. The middle object is at the center of the circle and the radius is equal to the measured distance. The radius line (four) is guaranteed. (d) The same-orientation of the object; therefore, the distance and orientation 'cannot uniquely determine the exact point along the trajectory of the vehicle. In these cases, the estimated direction of the vehicle's sensitivities can be used in conjunction with relative measurements. Since there is only a point on the trajectory of the point that the vehicle has the direction of travel, a unique point can be determined. Generally, the direction of travel estimation is not the most accurate, so this technique can add a certain amount of inaccuracy in the relative position. In order to solve this problem, two or more objects can be sensed simultaneously or in a sequence that is very close (ie, within a distance in which the vehicle travels and the direction of travel has not accumulated a lot of errors). Two objects draw a circle (the trajectory of the point) and the orientation of the two objects is used to determine which of the two points is the physically correct point. Therefore, a more accurate relative position of the vehicle can be calculated. Doc 19· 201116805 In step 322, the vehicle may use its relative coordinates to communicate with other vehicles in the area, or to calculate a more accurate guidance direction or to utilize object timing. The results of the foregoing steps may then be repeated as necessary ( From step 32, the position is estimated and the object detected by the subsequent sensor is connected: repeatedly, thereby decreasing in proportion to the improved accuracy based on the process = seek area to sense The device is the interval between the detected objects, and the vehicle updates its position and row = direction using its internal position update process in step 324, and updates the estimate of the position accuracy accordingly. If you travel too far without such updates, the relative readability will deteriorate, and the car assistant will again need to rely on its absolute positioning to start the sequence again. An extra highly accurate absolute position can be made through a region. The relative position of the objects can be collected as described. Next, a process can be performed to "paint the ber sheet" according to an error minimization scheme well known to those skilled in the art. If necessary, the points that fall outside the accuracy specification can be reviewed and the process repeated. This eliminates the need for two sets of carrier coordinates (one absolute coordinate set and another relative coordinate set), but adds extra work and extra cost. The map matching type described above with respect to the embodiment of US 2008/0243378 is fundamentally different from conventional map matching techniques and is more accurate than conventional map matching techniques. The sensor carried by the vehicle only estimates the position of the vehicle and the direction of travel in a situation such as matching with a conventional map used with the projection, and does not have a direct sense of the presence or location of any object such as a road or a physical object along the road (4) Measurer measurement. Moreover, in the case of traditional map matching, the map is a simplified representation of the theoretical concept of the road containing only the "center" of the road, 144240.doc •20· 201116805 So map matching is performed on the basis of inference. That is, the algorithm infers that the car is likely to be on the road and can then be approximated to be tied to the centerline of the road. In contrast, in the object-based map matching taught in US 2008/0243378, the sensor detects the presence and possibly additional identifying characteristics of one or more objects (such as the color or size or shape or height of the logo, or receiving Regarding a piece of information about the RFID associated with the object, and also measuring the location of the flag and using this information to match objects in the map database with similar characteristics and locations. In addition, unlike conventional map matching that matches the vehicle to a two-dimensional road and thus has only enough information to improve accuracy in one degree of freedom, the map matching of US 2008/0243378 can also be used with point objects, and thus has The ability to improve accuracy in two degrees of freedom. Therefore, the object matching detected by the sensor can be more accurate and robust compared to the previous form of map matching. As with any map matching technique, the risk of error (ie, the likelihood of matching to an erroneous object in the database) still exists. If the sensor senses that there are many road markings in the m-domain or multiple road markings, then there is an estimate based on the object-based map matching algorithm that will match the error and thus introduce the error to the vehicle. The possibility of relative position. However, :: intrusion measurements to reduce this risk. First of all, greatly reduced by the following facts

Risk of severance* The sensor is salty: the target is 真 仏 AL is the real object, and therefore the existence of the object is inferred based on the object. Second, objects have distinct characteristics. Second, the map supplier can collect a map object that is usually high-density with different = objects to allow multi-object map matching or fast-continuous object-based matching to be used in a broad situation. Fourth, based on many price measurements and (1) 144240.doc • 21 . 201116805 = the object (4) can also be used to limit the potential impact of any single-error fifth, once the initial object matches the absolute use of the navigation device The position information can be used to perform a 'score' to calculate a relative estimate of the position, and the relative estimate is used to improve the search area and further limit the size of the search area. From this point forward, map matching can be performed based on relative accuracy, and the search area can be significantly reduced, making the possibility of mismatching gradually small. This continuous process remains good as long as the matching based on the object continues 4 except for the accumulation of errors that would necessarily occur when using the system INS or DR sensor. 8 through 10 illustrate an environment in which vehicle navigation is used to identify lane positioning. In Figure 8, car 330 is traveling northward, for example, and is approaching intersection 332. The vehicle's navigation system has calculated a route to the destination of the vehicle (not shown), which suggests a left turn at the intersection 332. This same intersection 332 is shown in Figure 9, which depicts the manner in which a conventional navigation system (i.e., a navigation system that does not utilize relative position sensing for accurate position determination) will facilitate navigation. Here the 'map will likely show only a single centerline for each of the sections connected at the center of the intersection. Thus, the guidance provided to the vehicle 330 will be a simple highlighted path 340 having a 9 degree turn at the point of intersection between the two streets. However, Figure 10 is another view as shown in Figure 8 but demonstrating how to process information by means of the teachings of US 2008/0243378. The system (and therefore the digital map) is much more "know" about the lane information. The car is equipped with a sensor, such as a radar sensor. The radar sensor detects 342, 344 and measures various objects near the car (for example, traffic signs labeled A, B, C, D, E, F, and G and 144240.doc -22· 201116805 The distance between the parent and the signpost) and the direction of travel. The navigation/guide and maps in the security system therefore contain information about these objects. The digital map can include the absolute position and relative position of the object along with other information, such as RFID& signing (if it exists), accuracy limits, and type and type of object. The car can then use its absolute position estimate 336 and the objects to which it is located. The relative distance and direction of travel (and possible prior information about their relative position as calculated from previous observations of the object) are matched to the vehicle-visible object group based on the map of the object. Based on this matching and relative measurement, the navigation system can accurately calculate the position relative to the specific object contained on the map. - 'The navigation system in the vehicle has calculated its position in the relative coordinate space defined by the map' and the system can then calculate its other objects that are undetectable relative to the radar sensors included in the map. position. Thus, for example, the navigation system can calculate which lane the car is in and accurately calculate when the car arrives at the point where the left turn lane on the road begins. The system can then inform the driver that he can enter the left turn lane (perhaps by radar measurement to first confirm that the left turn lane is not occupied). In a more general setting, the system can tell the driver if he/she is drifting out of his current lane. As the vehicle moves, the navigation system calculates the updated absolute position and the updated relative position (10). The navigation system can perform this calculation by recalculating its position. Recalculating the position of the navigation system is performed by the following to best improve its relative measurements 352, 354, 356: update its radar measurements, or use push XOR, or an update to its absolute sensor or a combination of some or all of the above. As the vehicle approaches the pedestrian crossing X, the navigation system can then accurately determine how close the vehicle can be to the human crossing X by the relative measurement of the 144240.doc -23- 201116805 及其·- and its updated relative position. If the car is decelerating, the navigation system yM, for example, the car needs to stop, and can assist the driver to stop immediately before the pedestrian wears. This system can be used at even further distances to assist the driver in achieving red- (four) fuel-saving and comfortable parking in the case of traffic signal timing from the road infrastructure. The system can then continue to inform the driver about how to make the > Speed V route through the intersection and σ and enter the appropriate westbound lane. Other important items besides the road markings and buildings, and they can be easily measured by debts in the degree of the map. "Column" can be used by some sensors (for example, cameras and _ lanes. Therefore, it can be in the vital importance of the road (4)): Count: The exact position of the object in this lane. The information is essentially local. For the case of cattle, knowing that the lane divider is 1 〇 from the left bumper can accurately determine the fixed coordinate, but informs about the second (along the road) coordinates. It must be avoided. Regarding the uncertainty of which lane is detected, the information obtained by the group from the two-dimensional (10) object and the algorithm of the information obtained from the occasional dimension (10): the piece and its own guidance (4) will be able to Maintaining the exact phase position. It is considered that all the relative coordinate information of the buckle object is not the relative X and y position, and the county knows the equation that defines the linear characteristic of the upper X, y coordinate space along the upper 。. (4) Considering the three-dimensional (10) objects such as buildings. In this case, the deer should also be aware of the more star objects or characteristics such as the edges of the building. 〃 As can be seen from the foregoing discussion, the accuracy Lane guidance is considered to be required to be extremely high 1442 40.doc -24- 201116805 The ability to locate a vehicle on a driveway. The traditional method of positioning the car with absolute coordinates collected from a GPS receiver alone is not cost effective in high-precision positioning situations. Combined with US 2008/ The method described in 0243378 is conceptually superior and highly advantageous, but assumes that the accurate clamping in the X, 丫 coordinate system requires an advanced navigation service that acts as a collision avoidance and lane shift. It is assumed by means of measurement and to each other. The landmarks are grouped with relative accuracy and/or relative accuracy within the valleys of the database. Through this technique, the vehicle can use map matching algorithms to accurately locate its location to the digital database map. This accuracy is quite dense. The processing effort is at the expense of reality. Therefore, even Us 2008/0243378 can be modified by certain tools to enable a more practical and efficient implementation. Because &, an actual and effective implementation of the invention defined in the US GW t is required. The method for vehicle navigation according to the present invention uses the lateral offset of the vehicle from a common reference axis to provide enhanced driving. Employee assisted feature. The method comprises the steps of: providing a digital map database configured to store absolute geographic locations and relative spatial locations of a plurality of objects 'at least two of the objects The vehicle includes a longitudinally extending roadway and a mark adjacent to the roadway from which the boundary is located. A reference axis is associated with the roadway in the digital map data library. Extending substantially parallel to the rut. As the roadway is curved, the axis is also curved with it. A piece of material offset is stored in the digital map. The object is M. , the vertical distance between the test axis and the mark is measured. A vehicle is configured to travel in the Hu-M car lane. The vehicle assembly $ ] 144240.doc -25- 201116805 has a navigation system enabled by at least one object sensor. The method further includes using the object sensor on the vehicle to sense the presence of the token and the relative orientation/distance to the token. An instantaneous vehicle offset is then calculated using the stored object offset and the relative azimuth/distance to the symbol. The instantaneous vehicle offset is a measure of the vertical distance between the reference axis and the vehicle. As may be desired, the instantaneous vehicle offset is calculated using minimum processing resources without determining the exact X, y coordinates of the vehicle' and enables advanced driver assisted operation. The present invention also contemplates a system for vehicle navigation. The system includes a digital map database containing absolute geographic locations and relative spatial locations of a plurality of objects. The items stored in the database include at least a longitudinally extending roadway, a token from the real world disposed adjacent to the roadway, and a space associated with the roadway space and substantially flattened The reference axis of the roadway extension. The digital map library further includes a stored object offset measure associated with the token. The object offset includes a vertical distance between the reference axis and the mark. At least one object sensor is provided for sensing the relative orientation/distance to the mark. A portable navigation device is operatively interconnected with the object sensor and the digital map database to calculate an instantaneous vehicle offset. The instantaneous vehicle offset is calculated using the stored object offset and the relative orientation/distance that is sensed to the token. This instantaneous vehicle offset is easy to calculate using minimal processing resources' and enables enhanced driver assisted operation. The present invention describes a system for obtaining a lateral position (i.e., its vertical offset) of a vehicle relative to a defined centerline to enable advanced driver assistance 144240.doc _26· 201116805 system (eg, instant lane guidance) Method and device. The invention proposes that only an accurate μ (lateral) relative distance is sufficient to achieve such a goal, thereby reducing the cost of the process/storage/equipment. Therefore, the present invention proposes a new solution 'by this proposal by providing on a vehicle The easily recognizable physical token detected by the sensor, the physical tokens are pre-typed into a digital map database having a high degree of accuracy to the reference axis (usually +/_) Measured in at least one relative position of 10 to 20 cm or even lower. Each mark is pre-positioned relative to the reference axis, the reference axis being coincident with the curved road axis or centerline. Thus, considering a sensor-equipped vehicle/device configured to identify a physical roadside marker and its corresponding digit representation in the map database, the vehicle can be determined with respect to the road on which the vehicle is traveling. One of the more accurate orientations. Using this technique, the particular lane in which the vehicle is located can be identified with a high degree of trust. The present invention provides a cost-effective method of positioning a vehicle laterally on a roadway with high accuracy a by laterally (relative to the reference axis) independent of the absolute (i.e., 〇1^) position Offset, dynamically broadcasting content to the vehicle to allow for immediate decision making of the road. The above and other features and advantages of the present invention will become more apparent from the following detailed description and appended claims. More particularly, the present invention relates to an improved method and apparatus or system for obtaining the position of an object with greater accuracy than that of GPS/A_Gps and conventional map matching techniques (i.e., on the road) Vehicle 144240.doc •27· 201116805 location). The increase in accuracy is not due to the physical χ, y, z spatial position obtained from the GPS' but is generated by the fact that the spatial position of a physical object relative to some other predefined/predetermined position can be Text

The appropriate in-vehicle sensor described in connection with US 2008/0243378 is determined with an accuracy that is much higher than the accuracy of the GPS derived surface position. In addition to the known teachings, the present invention sets forth an effective and practical implementation method whereby only one dimensional (1D - lateral) relative distance can be used to achieve the advantageous attributes of this concept thereby reducing the requirements of electronic processing, storage and related equipment. cost. Moto vans' motion-mapping vehicles are commonly known to use high-accuracy GPS systems, inertial navigation systems (INS), and various other techniques to determine their location, and to create map data (i.e., databases) using a variety of techniques. In normal use, the reality surrounding the MoMa van is digitized, geocoded with as much accuracy as possible, and then formatted, compressed, and/or otherwise post-processed to enable inclusion/insertion to digital In the map database. The sensor configuration in MoMa Van enables the identification and geolocation of features and objects with a common level of accuracy. The present invention describes an improvement to the relative positioning technique of us 2008/0243378 'by means of an easily recognizable entity E, a marker and/or facility ideally positioned on the roadside, identified by the cartographic vehicle, and provided by normal Detected by sensors on passenger and commercial vehicles. These physical tokens are typed into the billet library, and the 5 hai database has at least one relative position measurement with a high degree of accuracy (usually 仏 or when and even lower), the mark is relative to One of the selected ones in the digital map database (() is arbitrarily selected (❹, reference (iv)), and the reference material can be aligned with the road axis or centerline of the curved line of the 2S 144240.doc 201116805. As the advanced driver assistance system (such as Immediate Lane Guidance (ADAS)) becomes more widely accepted in vehicle navigation, the central road axis or the accuracy of the road centerline from the digital database will be given Big attention. However, in any case, the central track is identified with good accuracy in the commercial database: axis: road centerline. A particular advantage of the present invention is the fact that only one-dimensional attributes - the distance to the center line - are sufficient to cover important ADAS applications such as lane departures, collision detection, and the like. Current in-vehicle and portable navigation systems are generally only capable of resolving their spatial position relatively coarsely (+/- 5 to 1 〇 m) to determine which I-way the car is traveling on and in that direction, but not sure which lane the vehicle is in. Go on. This level of resolution is not sufficient for real ADAS applications. However, by means of a sensor-equipped vehicle/device configured to identify a wayside entity symbol and its corresponding digit representation in the map database, the vehicle can be traveling on it (horizontal and vertical) The road to determine the more accurate location of the vehicle. Accordingly, the present teachings teach that only the lateral position relative to the indicia is sufficient to determine the particular lane in which the vehicle is located. One can achieve this situation' ADAS becomes a more realistic possibility. - Referring now to Figure U, the symbol 4 is an object from the real world that has been inserted into the database and can be identified by the sensor on the vehicle 4〇2 (the sensor scan range is indicated by 403). The symbol 4〇〇 may be any road label I stored in the real-world database and added to the real-time database with high accuracy with respect to the curve reference axis 4〇4. The curve reference axis 4〇4 (hereafter referred to simply as “axis”) is parallel to the normal traffic flow along any road or roadway 4〇6] 144240.doc •29· 201116805 The axis 404 can be the lane of independent traffic. Lane markings or centers, or fictitious features. With the prior art, the related items can be collected from the roadway 4〇6 and positioned with high accuracy with respect to the axis 404, thus positioning the objects 4〇8 with respect to the position mark 400 with 咼 accuracy. According to these objects 4〇8, an imaginary cross section 41〇 is established perpendicular to the reference axis 404. Each cross section 41 is relatively positioned relative to the axle 406 with high accuracy relative to the axis 404 and with similar accuracy. The object 4〇8 contained in the cross section 41〇 is used to indicate all relevant information for the lane guidance and positioning application. This may include lane markings, intermediate medians, roadblocks, and the like. The object 408 in the real world can be detected by the vehicle using a camera, laser or radar of the type described in connection with us 2008/0243378. Once object 408 is detected, object 408 is identified and drawn to a nearby symbol 400 on the map. Once synchronized, the in-vehicle system can use the map database for ADAS and lane positioning applications. By identifying the symbol 4, the vehicle 402 can correct its position with respect to the object of the cross-section 410 map database. The vehicle 402 "knows" its precise lateral position with respect to the roadway 4〇6. This situation is possible because the relative positioning between the vehicle 402 and the marker 400 is highly accurate. Since the vehicle 402 is positioned relative to the axis 4〇4 and the object 408 is positioned relative to the axis 4〇4, an event recorded on the cross-section can be used by the vehicle 4G2 for navigation. By changing the means (current method) indicating the placement of voice commands from the graphical geometry to directly storing it as a cross-section 410 in the map database medium application 'eg, delivering loop information to the vehicle, marking, blocking, etc. . 'Easy to activate dynamic signs, accidents 144240, doc • 30- 201116805 Figure 12 illustrates how cross-section 410 can be established as a static layer and/or dynamic layer 412 of a database provided by a service provider. As dynamic layer 412, these loose surfaces can be distributed by means of GPS or digital radio and can contain information about road engineering, traffic congestion, accidents, and the like. The advantage of this method is that 'static object 408 (ie, permanent object) and dynamic object 414 (ie, transient object) are treated as the same type of object for all practical purposes, k means that all decision calculus can be written in a uniform manner. The method, and based on the information contained in the cross section 410' 412, rather than any particular type of cross section, makes a decision. Figure 13 shows a two-way traffic on the roadway 406 from a bird's eye view, wherein the opposite lane of traffic is by way of A double continuous strip 416 is used to separate. In this example, the belt 416 is consistent with the reference axis 404. Figure 13 illustrates the basic nature of vehicular traffic in which vehicles 4, 2, 4, 2 traveling in the same direction on the same lane, typically maintained at 15 to 30 meters. interval. This interval is indicated by the longitudinal distance arrow 4丨8. However, the spacing between the vehicles 4〇2, 4〇2 in the adjacent lanes is typically below two meters and sometimes below one meter, as indicated by the lateral arrow spacing 420. The accuracy of a typical Gps unit using a contemporary consumer-grade navigation system is approximately 5 to 10 meters. This error range of 5 to 1 metre is indicated by a dashed circle around each of the vehicles 402, 402, 402 " shown in Fig. 13. Therefore, if each of the vehicles 4, 2, 2, and 402" illustrated in FIG. 13 is equipped with a personal navigation system having a GPS receiver, the actual position of the vehicle in the X, y coordinates can be reliably positioned. Somewhere within the circle around each other. For vehicles 402, 402' traveling in the same lane in the same direction, this is due to the natural extension of the longitudinal spacing 418 and the problem of 144240.doc • 31 - 201116805. Therefore, for the anti-collision and other techniques used in advanced driver assistance settings, the error range of +/- 5 to 1 ft. for the longitudinally spaced vehicles 402, 402 in the same lane is Very adequate. However, due to the extremely small lateral spacing constraint, the normal accuracy of the consumer-grade Gps unit is simply not sufficient for the collision avoidance system. Therefore, if the absolute positioning provided by only the Gps receiver is used to determine the probability of an impending collision, the vehicle 402, 402" may be highly susceptible to triggering a false collision warning. This situation is of course unacceptable. Referring now to Figure 14, an enlarged view of the roadway 4'6 is depicted, wherein the in-vehicle sensor associated with the vehicle 402 senses by comparing its digital signature with the catalog of objects referenced in the digital map database. The existence and identification of the mark 4〇〇 was detected. After identifying the unique symbol 4〇〇, the navigation system included in the vehicle 4〇2 obtains its object offset measurement 422, which is stored in the digital map database and associated with the specific symbol 4〇〇 Associated. The onboard vehicle sensor also evaluates the relative azimuth/distance to the symbol 4〇〇 as illustrated by the dashed arrow 424. The lateral component 426 of the relative orientation/distance 424 can then be subtracted from the known object offset 422 to calculate the instantaneous vehicle offset 428, which is thus referenced to the axis 4〇4 and the vehicle 4〇2 The vertical distance between measurements. By this simple assessment of the relative azimuth/distance 424 sensed to the known token 4, the instantaneous vehicle offset 428 can be calculated very quickly and easily using the minimum processing resources. This fast transient vehicle offset 428 thus enables advanced driver assisted operations such as collision avoidance and other advantageous services without the need to calculate its extremely accurate X, y coordinates. By extension, this technique can be used to quickly calculate a new object offset 430 that is roughly defined as a reference axis 144240.doc • 32· 201116805 line 404 and a vertical distance measurement between new objects 408, 414, new objects 408, 414 It is sensed by the in-vehicle sensor of the vehicle 402. In Figure 14, dynamic object 414 is depicted as a building bucket encountered by a vehicle sensor, and the relative orientation/distance of dynamic object 414 as indicated by dashed vector 432 can be quickly determined. The new object offset can be calculated using the instantaneous vehicle offset 428 along with the sensed relative azimuth/distance 432. This information can then be typed into the cross-section 412 as described above. Figure 15 depicts a single axis symmetry mark 4 感 sensed by a vehicle sensor. Because of the symmetry of the mark, in this example, it is not possible to calculate the correct direction of travel of the § number or to calculate the correct direction of travel of the vehicle 4〇2 by extension. In order to properly position the vehicle 4〇2 on the lane, the following items must be known: the previous record (history) of the INS, and the characteristics of the INS drift. Positioning begins by using GPS signals and standard map matching. This gives the system

The estimate of the location along with the INS signal. When the first mark 4 is detected, the history of the INS is used to locate the vehicle 4〇2 on the return of the vehicle. This situation can be done because the drift of the INS is known. When the second token 4 is detected, the person uses the INS history to calculate the better position. From this point on, a collection of recently detected tokens 400, 400, ... and INS history has been used to calculate the position of the wheel with respect to the new token. Again, the assumption that the most probable long-term trace is parallel to axis 404 can be used to further improve positioning in this situation. Figure 16 shows a single non-axisymmetric mark. In this case, the token 400 does not have axis symmetry and is sufficiently large for the system to distinguish it from its features. Examples of such objects include large direction signs 144240.doc -33 201116805 or billboards. These tokens 400 must be associated with additional information about their real world size for use in the system for proper debt testing. Because the features of the symbol 400 are distinguishable, the vehicle 4〇2 can position itself relative to each of the features to immediately obtain the correct direction of travel. Figure 1 7 § The situation in which there are two or more tokens 400, 400, which are sufficiently close to exist to satisfy the error model. In this situation, the vehicle 402 positions itself relative to its objects to receive the correct position and direction of travel on the lane. Figure 18 is an error model. A consistent and known error pattern in the neighborhood of the symbol 4〇〇 allows for new lane guidance possibilities. Here, the symbol 4〇〇 has an absolute position of +&quot; 2 m but is positioned with an accuracy of +/_ 1 〇 cm with respect to the reference axis 4〇4. In the neighborhood of the token 400 (i.e., +/_ 1 〇〇 (4), the objects on the respective cross-sections 410 are positioned with an accuracy of +/· cm along the axis 4〇4 with respect to the symbol 4〇〇. 402 is positioned with an accuracy of +/- 20 cm in terms of the intersection distance to the centerline 1 。 4. Thus, the vehicle 402 can be positioned with an accuracy of +/- 20 cm with respect to the axis 404. The cross section 410 can indicate Which symbol 400 is used to position the vehicle 4〇2^ The error value is consistent in the region of the token neighborhood. The symbol 4〇〇 may have a higher absolute positioning error, but it does not limit the roadway geometry and other The library object accurately locates the capabilities of the vehicle 402. A new object 414 representing dynamic content about the token 400 is added for use by the device in the vehicle and the application of dynamic content. The external object 414 can be added to the model 'even if the external object 414 The relative error criteria are not met. Using the relative map matching algorithm, the objects 414 can be positioned relative to the reference axis 144240.doc • 34· 201116805 7 and provide information to the vehicle. The service provider can be in GSM. Network or The digital radio channel or the like dynamically distributes such things (4) 4. The dynamic object 414 may include things such as: (f) (10) capacity (warning and restriction), road construction and other restrictions, accidents, information, knowledge Bad road segment and the like. In some embodiments, the invention includes a computer = instruction on/available for stylizing - a computer to perform the invention: a storage medium for any of the two private stores. Media may include (but is not limited to) any type of disc (including flexible disk, CD, DVD, CD Rom, mini hard drive (mi (10) and magneto-optical disc), reading, =〇M, EEPR0M, DRAM, vram, Flash memory device, or optical card, nanosystem (including molecular memory 1C), or any type of media or device suitable for storing instructions and/or data. The present invention includes = storage = brain readable media - The hardware or microprocessor for the soft control general purpose/dedicated computer used for the following two, and the use of the results of the present invention enables the computer or microprocessor to 'interact with human users or other institutions. This software Can include (but not limited to Device driver, operating system, and user application. Dare, L^,, s, as described above, the computer readable medium further includes software for performing the present invention. The present invention has been described in accordance with relevant legal standards. It is to be understood that the invention is in the nature of the invention, and is intended to be The legal protection can only be determined by studying the scope of the following patent application. [S] 144240.doc • 35- 201116805 [Simplified Schematic] Figure 1 shows the use of vehicle navigation in accordance with an embodiment of the present invention. The vehicle assisted navigation uses absolute coordinates and relative coordinates; FIG. 2 shows a system for vehicle navigation using absolute coordinates and relative coordinates according to an embodiment of the present invention; FIG. 3 is not included in accordance with an embodiment of the present invention. A database of absolute coordinates and map information of relative coordinates; FIG. 4 shows a method for navigating using absolute coordinates and relative coordinates according to an embodiment of the present invention; Method of navigating using absolute coordinates and relative coordinates in accordance with an embodiment of the present invention; FIG. 6 shows an environment in which a vehicle navigation system and method are used in accordance with an embodiment of the present invention; FIG. 7 is not an embodiment of the present invention Method of navigating using absolute coordinates and relative coordinates; FIG. 8 shows an environment in which vehicle navigation can be used to identify lane positioning in accordance with an embodiment of the present invention; FIG. 9 shows vehicle navigation that can be used in accordance with an embodiment of the present invention. </ RTI> </ RTI> </ RTI> </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; A simplified view of the roadway segment from which the previously identified mark is sensed; 144240.doc -36 · 201116805 Figure 12 is shown on the roadway and around the lane as depicted in Figure U but with relevance to vehicle navigation Dynamic and view of static objects; Figure 13 is a simplified top view of a section of a roadway depicting a typical error tolerance of 5 to 1 mm Typical 5 to 1 〇 metric error tolerances exist in consumer-grade portable navigation systems, so that their absolute (χ, y) coordinate positions cannot be more accurately positioned on a consistent basis; Figure I4 shows A vehicle traveling on a roadway equipped with a personal navigation device according to the invention, in which a mark has been spatially clamped with respect to a reference axis, and the mark is enabled with a certain accuracy along with other drivers related Sensing the lateral offset of the object to determine the lateral position of the vehicle relative to the centerline; Figure 15 is a depiction of the method by which the position of the vehicle can be established using the inertial navigation system (INS) history for a single axis symmetry Figure 16 also depicts a method by which the lateral offset of the vehicle relative to the centerline can be calculated by reference to a single non-axisymmetric mark; Figure 17 depicts a common axisymmetric mark that can be used to spatially position the vehicle relative to the reference. The context of the lateral offset of the axis; and an exemplary error model of the accuracy range. [Main component symbol description] 102 Environment 104 Vehicle 106 Vehicle 130 Navigation system® 8 Μ 144240.doc -37- 201116805 134 of the present invention - relative to the reference axis Digital map or map database 136 Object information 140 Positioning sensor subsystem 142 Absolute positioning logic 144 Relative positioning logic 146 Absolute positioning sensor 148 Relative positioning sensor 150 Wireless inductance detector 160 Navigation logic 162 Object selector 164 Focus generator 166 Communication logic 168 Object-based map Matching logic 170 Vehicle position determination logic 174 Vehicle feedback interface 178 Driver's navigation display 180 Driver feedback 182 Automatic vehicle feedback 200 Object 202 Absolute coordinates 204 Relative coordinates 210 Extra 294 Absolute position 300 Distance 144240.doc -38- 201116805 302 Distance 330 Car 332 Intersection 336 Absolute Position Estimation 340 Path 350 Updated Absolute Position and Updated Relative Position 352 Relative Measurement 354 Relative Measurement 356 Relative Measurement 400 Symbol 400 丨 Symbol 402 Vehicle 402' Vehicle 402&quot; Vehicle 403 sensor scan range 404 curve reference axis 406 roadway 408 static object 410 imaginary cross section 412 dynamic layer / cross section 414 dynamic object 416 double continuous strip 418 longitudinal distance arrow, longitudinal spacing 420 arrow spacing, lateral spacing constraint 144240. Doc •39- 201116805 422 Object Offset Measurement 424 Dotted Arrow 426 Lateral Component 428 Instantaneous Vehicle Offset 430 New Object Offset 432 Dotted Vector, Relative Azimuth / Distance 144240.doc -40-

Claims (1)

201116805 VII. Patent Application Range: 1. A method of vehicle navigation using a lateral offset (428) of a common reference axis (404) of a vehicle (402), the method comprising the steps of: providing a digital map database, The digital map database is configured to store absolute geographic locations and relative spatial locations of a plurality of objects, at least two of which comprise a longitudinally extending roadway (406) and a adjacent one of the roadways (406) placing the token from the real world (400); associating a reference axis (404) with the roadway (406) in the digital map database, the reference axis (404) and the vehicle lane The track (406) extends substantially parallel; an object offset (422) is stored in the digital map database, the object offset (422) being between the reference axis (404) and the mark (400) Vertical distance measurement; providing a vehicle (402) configured to travel along the roadway (406), the vehicle (402) carrying a navigation system enabled by at least one object sensor, Sensing the mark using at least one object sensor (40 0) the presence, identification, and relative orientation/distance to the token (400) (424); and the relative offset/distance of the stored object offset (422) and the sensed to the token (400) ( 424) to calculate an instantaneous vehicle offset (428) that is a vertical distance measurement between the reference axis (404) and the vehicle (402), whereby the instantaneous vehicle offset (428) It is easy to perform calculations using minimum processing resources and enables advanced driver assistance operations. 144240.doc 201116805 The method of claim 1, further comprising determining an initial absolute geographic location of the vehicle (402) relative to one of the child map databases. 3. The method of claim 1 or 2, further comprising sensing a relative orientation/distance (432) of a new object (408, 414) encountered in the real world, and calculating a new object offset (430) , wherein the new object offset (43〇) is a measure of the vertical distance between the reference axis (404) and the new object (4〇8, 414). 4. The method of claim 3, wherein the new item (414) comprises a second vehicle traveling in the roadway. 5. The method of any of the preceding claims, wherein the step of sensing the presence, identification, and relative orientation/distance (424) of the token (400) comprises including the sense The detected symbol (4 〇〇) matches an object stored in the digital map database. 6. A system for using a vehicle's lateral offset (428) from a common reference axis (4〇4) for vehicle navigation, the system comprising: a digital map database, the digital map database containing a plurality of objects The stored absolute location and relative spatial location, the object comprising a longitudinally extending roadway (406), a token (400) from the real world disposed adjacent to the roadway (406), and a The roadway (406) is spatially associated and substantially parallel to a reference axis (404) of the roadway (4〇6); the digital map database further includes an object offset stored therein (422) The object offset (422) includes a vertical distance measurement between the reference axis (404) and the mark (400); at least one object sensor for sensing the mark (4〇〇) 144240.doc -2- 201116805 7. 8. 9. 10. 11. 12. Azimuth/distance (424); and - a portable navigation device operatively interconnecting the object sensor with the digital map data The library thus uses the stored object offset (4) 2) and the sensed relative The azimuth/distance (424) is used to calculate an instantaneous vehicle offset (428)&apos; whereby the instantaneous vehicle offset (428) is readily calculated using the minimum processing resources and enables advanced driver assisted operation. A system as in claim 6, wherein the portable navigation device includes an absolute position sensor configured to determine an initial absolute geographic location relative to one of the digital map databases. The system of any of claims 6 or 7, wherein the token (4〇〇) comprises an RFID identifier. Such as. The system of any one of clauses 6 to 8, wherein the symbol (4〇〇) comprises a track mark. The system of any one of clauses 6 to 8, wherein the symbol (4〇〇) comprises a road sign. A system of any one of clauses 6 to 1 further comprising a communication for communicating with another nearby navigation system to calculate a jewel. In the system of any of items 6 to 11, the medium communicator includes at least a far (four) server for performing extra-vehicle calculations. 144240.doc