United States Patent 15
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`5,835,881
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`[11] Patent Number:
`[45] Date of Patent:
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`Trovato et al.
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`Nov. 10, 1998
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`US005835881A
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`[54] PORTABLE SYSTEM FOR PROVIDING
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`VOICE DRIVING DIRECTIONS
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`[75]
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`Inventors: Karen I. Trovato, Putnam Valley;
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`Daniel L. Pelletier, Peekskill, both of
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`N.Y.
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`[73] Assignee: Philips Electronics North America
`Corporation, New York, N-Y.
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`[21] Appl. No.: 587,266
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`[22]
`Filed:
`Jan. 16, 1996
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`[SL] Wnt, C18 cceccccccsscssssssesuesnssnesnente GO6F 165/00
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`[52] US. Che cases 701/211; 701/200; 340/988
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`[58] Field of Search
`2...eee 701/200, 201,
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`701/202, 211, 212, 213, 208; 73/178 R;
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`340/988, 990, 995
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`[56]
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`References Cited
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`U.S. PATENT DOCUMENTS
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`2/1986 Tachi et ab. we cecssecseeceereees 701/202
`4,570,227
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`7/1987 ‘Tsuji et al... ececeeeeeceereees 701/211
`4,679,147
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`. 701/211
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`11/1989 Nimuraet al.
`4,882,696
`.
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`«» 701/202
`11/1991 Person........
`5,067,081
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`
`» 701/200
`1/1993 Davis ctal.
`5,177,685
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`4/1995 Kishi et al.
`....
`5,410,486
`» FO1/211
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`9/1995 Yokoyamaetal.
`. 701/211
`5,452,212
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`5,463,554 10/1995 Araki et al.
`........
`» FOLU211
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`5,475,599
`12/1995 Yokoyamaet al. oc. eeeees 701/211
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`OTHER PUBLICATIONS
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`Abstract—Driver performance results from the travtek
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`IVHS camera car evaluation study, 1994.
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`Abstract—Design of TraVek auditory interface, 1992.
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`Abstract—Pathfinder status and implementation experience,
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`1991.
`
`Abstract—Automobile navigation information systems.
`
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`Legacyof the ancient Chinese south—pointing chariot, 1990.
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`Abstract—Dynamicroute guidance and interactive transport
`
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`management with ALI-SCOUT, 1991.
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`Abstract—Route Guidance System for Automobile Drivers
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`by Speech Synthesis, 1987.
`Abstract—An Electronic Traffic Pilot for Motorists, 1986.
`
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`
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`the Microsystems’robot. I. Speech rec-
`Abstract—RMS1:
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`
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`ognition, May 1985.
`Abstract—‘Intelligent’ cars are already on the roads of
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`Europe, Aug.—Sep. 1983.
`
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`“Communications: Teletrac’s Agenda for Location Network
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`Includes IVHS Services”, Feb. 1, 1993.
`
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`“Turn—On, Tune—In to Latest Traffic News—Industries In
`
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`Transition”, Apr. 1995.
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`“Car NavPoints the Way to the Future—Japanese Market to
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`Top Y200 Billion by 1995”, apr. 1993.
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`“Greek Start-Up Seeks Capital Infusion for Navigation Roll
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`Out”, Mar. 1, 1993.
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`(List continued on next page.)
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`Primary Examiner—Gary Chin
`Attorney, Agent, or Firm—Annc E. Barschall; Brian J.
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`Wieghaus; David Schreiber
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`[57]
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`ABSTRACT
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`Atravel direction speaking system thatis based on a portable
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`laptop computer. The computer determines a roule between
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`an origin and a destination using an electronic map, and
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`prepares driving instructions based on the route. Each driv-
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`ing instruction includes the spatial position (longitude and
`latitude) of a change in direction at which the driving
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`instruction applies. The system includes a Global Position-
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`ing System (GPS) unit that provides the GPS determined
`position of the laptop computer. The computer compares the
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`GPSposition to the spatial position and outputs the corre-
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`sponding driving instruction when the two positions are
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`inferred to be within a specificd range of cach other. The
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`range can be determined based distance or on a time period
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`required to travel from the current position to a positionat
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`which the instructions should be spoken. The time period
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`accounts for the amount of time required to speak the
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`directions,for the reactiontime of the driverat the speed that
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`the laptop computer is moving within a vehicle and for an
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`error in position associated with GPS commercial systems.
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`Whenthe time period has elapsed the directions are spoken.
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`The system also includes a text to voice unit that converts
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`the text driving instructions into a voice signal.
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`13 Claims, 5 Drawing Sheets
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`Page 1 of 12
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`Unified Patents Exhibit 1005
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`Page 1 of 12
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`Unified Patents Exhibit 1005
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`

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`5,835,881
`Page 2
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`OTHER PUBLICATIONS
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`“Navigation: Boston Startup Aims Navigation System At
`Commercial Markets”, Jun. 21, 1993.
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`“Smart Car Passes Test”, Apr. 19, 1993.
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`“AT&T, Lockheed Become Latest Strategic Partners”, Apr.
`27, 1992.
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`“Toyota’s GPS Voice Navigation System”, Jul. 1992.
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`
`U.S. Application Entitled: Differential Budding: Method and
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`Apparatus for Path Planning With Moving Obstacles and
`Goals, Ref. No. 1504-0384.
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`U.S. Application Entitled: Method and Apparatus for Path
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`Planning, Ref. No. 1504-0355.
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`U.S. Application Entitled: Improved Very Long Instruction
`Word Processor Architecture, Ref. No. 1504-0689.
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`Page 2 of 12
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`Unified Patents Exhibit 1005
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`Page 2 of 12
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`Unified Patents Exhibit 1005
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`U.S. Patent
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`Nov. 10, 1998
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`Sheet 1 of 5
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`5,835,881
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` TEXT T0
`VOICE
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`CONVERTER
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`206
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` 904,
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`LONG. PHONETIC REPRESENTATION|SPEAKING TIMEASCII TEXT
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`2007
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`FIG. 2
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`Page 3 of 12
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`Unified Patents Exhibit 1005
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`Page 3 of 12
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`Unified Patents Exhibit 1005
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`

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`U.S. Patent
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`Nov. 10, 1998
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`Sheet 2 of 5
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`5,835,881
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`OS
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`304
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`4
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`312
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`300
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`301
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`ue
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`319
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`FIG. 3(a)
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`Page 4 of 12
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`Unified Patents Exhibit 1005
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`Page 4 of 12
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`Unified Patents Exhibit 1005
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`U.S. Patent
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`Nov. 10, 1998
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`Sheet 3 of 5
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`5,835,881
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`320
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`Page 5 of 12
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`Unified Patents Exhibit 1005
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`Page 5 of 12
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`Unified Patents Exhibit 1005
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`U.S. Patent
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`Nov. 10, 1998
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`Sheet 4 of 5
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`5,835,881
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`FIG. 3(¢)
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`Page 6 of 12
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`Unified Patents Exhibit 1005
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`Page 6 of 12
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`Unified Patents Exhibit 1005
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`U.S. Patent
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`Nov. 10, 1998
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`Sheet 5 of 5
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`5,835,881
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`ENTER ORIGIN
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`AND DESTINATION
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`418
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`DETERMINE
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`CURRENT
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`POSITION
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`AS ORIGIN
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`COMPUTE PATH
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`OF SET POINTS
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`STORE SET POINTS
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`GET NEXT
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`SET POINT
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`GPS READING
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`ELAPSED TIME
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`COMPARISON
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`YES
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`402
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`SPEAK
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`SET POINT
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`DIRECTIONS
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`416
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`5,835,881
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`1
`PORTABLE SYSTEM FOR PROVIDING
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`VOICE DRIVING DIRECTIONS
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`BACKGROUND OF THE INVENTION
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`1. Field of the Invention
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`The present invention is directed to a portable system for
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`providing voice or audio driving directions and, more
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`particularly, to a portable laptop computer based system that
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`creates a set of driving directions that
`includes spatial
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`indicators of the points at which the driving direction should
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`change, monitors the current position and the time or dis-
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`tance to a position at which the instructions should be issued
`and estimates or infers a time that voice instructions should
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`begin in advance of the points of direction change.
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`2. Description of the Related Art
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`Systems currently exist that provide driving directions.
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`Some of these systems are fixed base or position systems
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`that print out a set of driving directions when the user enters
`an origin and a destination. Other systems are included in
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`vehicles. These systems typically cannot be hand carried
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`from vehicle to vehicle, that is, they are not hand portable.
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`Such vehicle based systemsalso typically provide directions
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`in the form of a route map displayed for review by the driver.
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`The systemsreceive position information from Global Posi-
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`tioning System devices and dead-reckoning devices attached
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`to a vehicle transmission. These systems require that the
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`current location be matched precisely to the map using GPS
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`and dead reckoning. At each turning point
`the user is
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`notified. Other systemsare available that do not plan routes
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`but that show route progress along an electronic map.
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`What is needed is a portable system that infers its own
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`location and based on that inferred location provides verbal
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`driving instructions sufficiently in advance of a change in
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`direction that the driver has enough time to listen to the
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`instructions and make the change in direction.
`SUMMARYOF THE INVENTION
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`It is an object of the present invention to provide a hand
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`portable device that can provide driving direction instruc-
`tions.
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`It is another object of the present invention to provide a
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`device that provides directions verbally.
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`It is a further object of the present invention to provide a
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`system that uses the estimated speed of travel, a predeter-
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`mined drivers reaction time, a time for speaking the driving
`instruction message and a time for positional error to pro-
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`vide the instructions in advance of a turn.
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`invention to
`is an additional object of the present
`It
`indicate to the user that the user is off track or not on the
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`path/route to the destination.
`It is an object of the present invention to compute a time
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`at which instructions should be spoken, whichis translated
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`into distance providing a target point around which a GPS
`error radius is calculated which radius is called a speech
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`radius and when a point, a speech initiation point, on the
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`radius is reached, there is enough time to speak the direc-
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`tions sufficiently in advance of the turn to allow the driver
`to make the turn.
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`It is another object of the present invention to allow the
`entry of origin and destination which are transmitted to a
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`remote computer that generates and downloads driving
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`instructions and targets and optionally all driving segments
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`with road type and speed limits between the origin and
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`destination, allowing the route to incorporate current-real
`time traffic information.
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`10
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`25
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`It is also an object of the present invention to allow the
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`system to report progress along a route to a central station by
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`indicating that various points along the route have been
`reached.
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`The above objects can be attained by a system that is
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`based on a portable laptop computer. The computer deter-
`mines a route between an origin and a destination using an
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`electronic map. The computer prepares driving instructions
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`based on the route with each driving instruction including
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`the spatial position (longitude and latitude) of the turn at
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`which the driving instruction applies. The system includes a
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`Global Positioning System (GPS)unit that provides the GPS
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`determined position of the laptop computer. The computer
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`compares the GPSreadingto the spatial position or setpoint
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`and outputs the instruction whenthe twopositions are within
`a specified range of each other. The range can be determined
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`based on a time period required to travel from the current
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`position to a position associated with a speech initiation
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`point at which the instructions should be spoken. The time
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`period accounts for the amountof time required to speak the
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`directions, for the reaction timeofthe driver at the speed that
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`the laptop computer
`is moving. The time period also
`accounts for the time to carry out the desired maneuver of
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`the car at the speed and for an associated buffer time or
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`distance which can be fixed or variable based on speed and
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`is designed to allow for changes in driving conditions, road
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`conditions, personal preference, etc. The speaking point
`accounts for an error in position associated with GPS. The
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`speaking point is an inferred position of the system at which
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`the instructions should be spoken. The time period and the
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`associated speaking point time/distance can also be used to
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`determine a distance from the setpoint point which is
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`compared to the current position to trigger the speaking of
`the directions. The system also includes a text to voice unit
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`that converts the text driving instructionsinto a voice signal.
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`These together with other objects and advantages which
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`will be subsequently apparent,
`reside in the details of
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`construction and operation as more fully hereinafter
`described and claimed, reference being had to the accom-
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`panying drawings forming a part hereof, wherein like
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`numerals refer to like parts throughout.
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`BRIEF DESCRIPTION OF THE DRAWINGS
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`FIG. 1 depicts the components of the present invention.
`FIG. 2 depicts a typical data structure or database used in
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`the present invention.
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`FIGS. 3(a)-3(c) depict example routes.
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`FIG. 4 depicts the flow of operation of the system of the
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`present invention.
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`DESCRIPTION OF THE PREFERRED
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`EMBODIMENTS
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`The system 100 of the present invention is based on a
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`typical portable laptop type computer system 102, such as
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`illustrated in FIG. 1. Such systems 102 are produced by a
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`number of companies and typically include a central pro-
`cessor 104 with an associated real time clock, a display 106,
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`a keyboard (not shown), an audio unit 107 that includes a
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`digital-to-analog converter and a speaker, and various types
`of memories 108, 109, 110, 112 and 114 connected to a
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`system bus 116. The process databases described herein can
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`be stored in the RAM 110, ROM 112, the hard disk 114 or
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`a floppy disk or other portable media associated with a
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`portable media device, such as the floppy disk drive 108 or
`CD ROMdrive 109 or a PCMCIA flash card (not shown).
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`Page 8 of 12
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`Unified Patents Exhibit 1005
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`Page 8 of 12
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`Unified Patents Exhibit 1005
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`

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`3
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`Various types of plug in units, as well as the software needed
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`to use the units, are available for laptop computers. The
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`present invention, in addition to the typical laptop compo-
`nents noted above, includes a conventional PCMCIA GPS
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`unit 118, such as available from Rockwell International, that
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`provides the longitude and latitude of the unit 118 and the
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`current time based on signals from global positioning sat-
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`ellites. The present invention also includes a conventional
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`text to voice converter 120. The converter 120 is preferably
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`an integrated voice synthesizer which is part of the laptop
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`102 when it
`is produced. Of course the laptop can be
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`produced with both the GPS unit 118 and the converter 120
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`if desired. The system 100 can also transmit the current
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`status, including the set points that have been reached to a
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`central station using the transmitter which is usefulin traffic
`control.
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`Although not shown,it is possible for the laptop 102 to
`include a transmitter and a receiver, such as a cell phone
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`with modem or a radio link like ARDIS, that can be used to
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`send an origin and destination to a central traffic computer.
`The computer will determine a route based on currentor real
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`time traffic conditions, prepare appropriate driving instruc-
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`tions with turn or set points and download the instructions,
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`etc. to the laptop system 102.
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`The system 100 also includes a conventional point to
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`point software navigation package (a program and an elec-
`tronic map database) of the type that can determine a route
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`between an origin and a destination. These packages typi-
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`cally produce text driving instructions such as those set forth
`below.
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`Your Route from:
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`345 Scarborough Road, BRIARCLIFF MANOR, NY
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`To:
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`91 AMSTERDAM AVE, MANHATTAN, NY
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`About 31.2 miles, 56 minutes.
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`Total
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`Miles Directions
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`1)
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`3)
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`4)
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`5)
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`6)
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`T)
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`8)
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`9)
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`1.0
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`3.0
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`63
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`8.5
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`18.7
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`28.5
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`28.8
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`28.9
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`29.1
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`30.9
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`312
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`(0.0 Start out going South on SCARBOROUGH RD
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`towards LONG HILL RD W.
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`Drive 1.0 miles.
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`Turn LEFT onto ALBANY POST RD.
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`Drive 2.0 miles.
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`ALBANY POST RD becomes N BROADWAY.
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`Drive 3.3 miles.
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`Take the I-287 EAST/I-87 SOUTH ramp.
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`Drive 2.2 miles.
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`Take the SAW MILL RIVER PKWY SOUTHexit, exit
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`number 7A.
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`Drive 10.2 miles.
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`SAW MILL RIVER PKWY SOUTH RAMPbecomes
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`HENRY HUDSONPKY.
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`Drive 9.9 miles.
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`Take the exit toward 96 ST.
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`Drive 0.3 miles.
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`Merge onto HENRY HUDSONPKY.
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`Drive a short distance.
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`Take the W 96TH ST EAST RAMPexit.
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`Drive 0.3 miles.
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`Turn RIGHT onto BROADWAY.
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`Drive 1.8 miles.
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`Turn RIGHT onto W 62ND ST.
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`Drive 0.2 miles.
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`Turn RIGHT onto AMSTERDAM AVE.
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`Drive 0.1 miles to 91 AMSTERDAM AVE.
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`Navigation packages such as those described above can also
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`generate the spatial positions, particularly the longitude and
`latitude, of the map positions where a changein direction or
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`a turn is located. They can also generate spatial position or
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`progress points along the route. Such packages are readily
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`5,835,881
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`4
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`available from a numberof producers including Navigation
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`Technologies of Sunnyvale, Calif. U.S. Pat. No. 4,949,277
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`also describes how to determine a path.
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`The text instructions and the corresponding spatial posi-
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`tions are preferably provided in a searchable data structure
`or database 200, such asthe array illustrated in FIG. 2. This
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`database 200 stores the text 202 of the driving instructions,
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`like the text set forth above, and stores the longitude 204 and
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`latitude 206 of the spatial positions of the turns or setpoints
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`associated with the directions as well as of the origin and
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`destination. The database 200 also preferably stores the
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`phonetic representation 208 that is the equivalent of the text
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`instructions which can be conventionally obtained from the
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`text using a text to phonetic conversion system. The instruc-
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`tions can also be based on “canned” speech downloaded
`from a remote computer or a stored database of the laptop.
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`The phonetic representation can then be converted into an
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`audio voice signal that can be broadcast or made audible by
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`a speaker. The database 200 preferably includes a speaking
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`time variable 210 that indicates the time required for speak-
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`ing the corresponding text using the corresponding phonetic
`representation. Other types of data structures, such as a
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`linked list, or databases can also be used. The database 200
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`can also be used as temporary storage for the variables that
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`are determined in the process of the present invention.
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`Before discussing the process performed by the present
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`invention the conventions or definitions of various points
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`along a route will be discussed. In the following discussion
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`distance/time will be referenced. This flexible terminology
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`is necessary because the instant during a trip at which a
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`particular driving instruction is spoken can be inferred based
`on either a time period required to reach a set point or turn
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`or on a distance from the setpoint. Whenever the fixed or
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`variable parameter is time, the distance traveled in the time
`period can be calculated based on the current or posted speed
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`on route. Whenever the parameter is distance, the time of
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`travel can also be calculated based on the current or posted
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`speed. The current speed can be estimated from the time and
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`distance between the two GPSreadings, preferably the most
`recent two. More complicated methods can also be used to
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`determine the speed, for example, the average of the elapsed
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`time of the two prior segments. And outliers can be dis-
`carded in this way.
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`FIG. 3(a) depicts a section 300 of a typical route 301
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`determined by a navigation package. The direction oftravel
`is indicated by arrows 302. The route 300 includes a turn (a
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`right turn) at setpoint 304. This is a point on the route 300
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`at which the driver must change directions and for which a
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`direction change instruction is provided by the navigation
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`package. The longitude andlatitude of the setpoint 304 is
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`also provided by the navigation package. The point (speech
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`point) at which the direction change instruction associated
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`with the setpoint 304 are to be spoken can be determined in
`a numberof different ways. FIG. 3(a) depicts a method in
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`which the point at which an instruction is spoken is deter-
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`mined by traversing the route backwards along the path of
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`travel. A target point 306 is determined by combining a
`distance/time 308 required for the driver to react to the
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`instructions, a distance/time 310 required for speaking the
`instructions (see 210 of FIG. 2) and a distance/time 312
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`which provides a buffer for variations in road conditions,
`time of day, driver comfort, etc. as defined by the user. The
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`reaction time can include the time it takes a user to prepare
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`for a turn and can bea function of the expected turn type and
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`road classification. For example, a right turn from an inter-
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`state highway may require more time for preparation than a
`right turn on a neighborhoodstreet. The reaction time can be
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`10
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`15
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`20
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`25
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`30
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`35
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`40
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`45
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`50
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`55
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`60
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`65
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`Page 9 of 12
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`Unified Patents Exhibit 1005
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`Page 9 of 12
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`Unified Patents Exhibit 1005
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`

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`5,835,881
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`5
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`set by the user, if desired, but it is expected that a standard
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`25 seconds would be an acceptable reaction time. At the
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`target point 306 an error radius 314 of distance/time is
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`determined based on the maximumerrorin spatial position
`determination that
`is inherent
`in commercial GPS. The
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`accuracy of the commercial GPS is about 100 meters and if
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`the actual speed or speed limit is 30 meters per second the
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`error is about 3.33 seconds. When the system 202 is posi-
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`tioned within this radius 314 of the target point 306, the
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`system 100 is considered as having reachedthe target point.
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`If the system 100is traveling along the route 301, the system
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`100 will be within the circle 316 defined by the radius 314
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`at which timethe directions will start being output as a voice
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`signal to the user.
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`Whenthe system isat a current position 318, the distance
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`319 that the system 100 musttravel from the current position
`318 to the circle 316, can be determined. From this distance
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`and the estimated current speed, the time of travel between
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`the current point 318 and the circle 316 can be determined
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`and used with an elapsed time, determined with the laptop
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`computerreal time clock,to trigger the initiation of instruc-
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`tion output.
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`FIG. 3(b) depicts another way of determining the pointat
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`which the directions should be spoken. In this approach a
`section 320 of a route 322 with a left turn is shown when
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`traveling in the direction of travel 324. The setpoint 326 (left
`turn) is the center of a radius 327 that includes reaction
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`time/distance 328, the time/distance 330 required to speak
`the directions,
`the buffer time/distance 332 and the GPS
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`error time/distance 334. When the system 100 is traveling
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`along the route 322, the system 100 is within the radius 327
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`whenthe circle 336 is reached. The time required to travel
`from a current position to the circle 336 can also be used to
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`trigger direction instruction output with this approach.
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`It is also possible to make the target point a distance from
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`the setpoint equal to the driver reaction time plus the time to
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`speak the directions with the radius around the target point
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`being equal to the GPSerror plus the buffer.
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`Carrying this one step furtherthe target point can be based
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`on the reaction time along with the radius being equal to the
`sum of the time to speak the instructions, the buffer and the
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`GPSerror. The above two possibilities are in between those
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`disclosed in FIGS. 3(a) and 3(b). Acombinationof the above
`approaches can also be used to vote on when the voice
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`instruction should be output.
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`The system 202 can also determine progress points along
`an expected route 350. This is depicted in FIG. 3(c). FIG.
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`3(c) illustrates a section 352 of the route 350 where in the
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`direction of travel 354 the driver encounters two turns or
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`setpoints 356 and 358. Assumethat the distance between
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`setpoints 356 and 358is relatively great such as 30 miles at
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`interstate speed taking 30 minutes at the posted speed limit.
`The route 350 includes several exits 360, 362 and 364 which
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`the driver is not supposed to take. A progress point is a
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`spatial point (longitude and latitude) along the expected
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`path. FIG. 3(c) depicts four progress points 366, 368, 370
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`and 372 positioned at a spacing determined by the naviga-
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`tion database andstarting at the setpoint 356. Progress points
`can be used to determine whether the driveris off track or
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`to anticipate upcoming turns. The numberof progress points
`can be arbitrarily determined and as close together as
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`desired. However, progress points spaced more closely
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`together than the GPS positional error would not be appro-
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`priate.
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`The processthat is performed by the present invention in
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`determining which direction to issue and whento issue the
`direction can be implemented in a numberofdifferent ways.
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`One approachis illustrated in FIG. 4.
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`The process 400 starts with a step 402 of determining the
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`origin and destination. The destination is entered by the user
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`while the origin can be entered by the user or estimated by
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`obtaining a current spatial position or reading from the GPS
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`unit 118 and finding the map location of the spatial position
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`in the electronic map. Because the commercial GPSincludes
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`the built in error in position determination,if the GPS is used
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`to determine the origin the user should be allowed to confirm
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`that the origin is correct and allowed to enter a correction.
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`Once the origin and destination are known,in the next step
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`404, a path or route between the two points is conventionally
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`determined. This route includes direction change points and
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`the spatial positions or set points of the direction change
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`points. These set points, along with the directionsare stored,
`in a database, such as that illustrated in FIG. 2.
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`Once the set points are stored the system then enters a
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`loop in which determinations are made as to when to speak
`the directions.
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`The first step 408 of the loop is to retrieve the next set
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`point from the database 200. The information associated
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`with the setpoint includes (see FIG. 2) the spatial positions
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`204 (longitude) and 206 (latitude), the ASCIItext directions
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`202, optionally the phonetic representation 208 and the time
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`210 required to speak the instructions. In the first cycle
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`through this loop this is the first set point of the array and in
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`the second cycle it is the second set point, etc. That is, the
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`system steps sequentially through the set points as they are
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