Abstract: A system and method for map matching with sensor detected objects. A direct sensor and object matching technique can be used to disambiguate objects that the driver passes. The technique also makes it possible for the navigation system to refine (i.e. improve the accuracy of) its position estimate. In some embodiments, a camera in the car can be used to produce, dynamically in real time, images of the vicinity of the vehicle. Map and object information can then be retrieved from a map database, and superimposed on those images for viewing by the driver, including accurately defining the orientation or the platform so that the alignment of the map data and the image data is accurate. Once alignment is achieved, the image can be further enhanced with information retrieved from the database about any in-image objects. Objects may be displayed accurately on a map display as icons that help the driver as he/she navigates the roads.

Abstract: A navigation system for use in a vehicle. 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. These records can include relative positional attributes and traditional absolute positions. As the vehicle moves, sensors sense the presence of at least some of these objects, and measure the vehicle's relative position to those objects. This information, together with the absolute positional information and the added map information, is used to determine the vehicle's location, and support features such as enhanced driving directions, collision avoidance, or automatic assisted driving. In accordance with an embodiment, the system also allows some objects to be attributed using relative positioning, without recourse to storing absolute position information.

Abstract: A system is disclosed for using speech recognition with map data. For example, a user could state a location. The system will recognize the words spoken and find the location on a map using an electronic map database. The map can be displayed such that the location is depicted. Alternatively, the user could state two locations. The system will recognize the words spoken, find both locations on the map using an electronic map database, determine a path between the locations and report that path to the user.

Abstract: A vehicle navigational system and method for tracking a vehicle, including a programmed computer, sensors for sensing the distance traveled and heading of the vehicle, and a stored map data base identifying a map of an area over which the vehicle is moving, in which the computer calculates and advances dead reckoned positions of the vehicle in response to distance and heading data, provides data identifying a contour of equal probability containing the dead reckoned positions and having a probability of containing the actual location of the vehicle, derives multiparameters from the map data base, and updates a given dead reckoned position and the contour using a highly developed vehicle navigational algorithm if a more probable dead reckoned position exists based upon the given dead reckoned position, the contour and the derived multi-parameters.

Abstract: A method and apparatus for measuring relative heading changes in a vehicular onboard navigation system is provided comprising apparatus for providing signals corresponding to differential wheel distance measurements, the velocity and wheel tracking distance of the vehicle. When front wheel distance measurements are used in a vehicle having an Ackerman-type steering system, an apparatus for providing a signal corresponding to an effective front wheel tracking distance as a function of the curvature of turn is also provided.

Abstract: Disclosed is an apparatus generating accurate data regarding the heading of a land vehicle as it travels over terrain having changing conditions. The apparatus includes a first sensor means, such as a differential odometer, generating data regarding the relative direction of the vehicle. Also included is a second sensor means, such as a flux gate compass, for generating data regarding the absolute direction of the vehicle relative to the earth. The relative directional data and the absolute directional data are combined in a means for generating accurate data regarding the heading of the vehicle. A means for reducing errors reflected in signals generated by the sensors is provided to insure the accuracy of the output.