United States Patent (19)
`Van Ryzin
`
`USOO584.4505A
`Patent Number:
`11
`(45) Date of Patent:
`
`5,844,505
`Dec. 1, 1998
`
`54 AUTOMOBILE NAVIGATION SYSTEM
`
`FOREIGN PATENT DOCUMENTS
`
`(75) Inventor: John M. Van Ryzin, Madison, N.J.
`
`73 ASSignees: E. Eato, Af r; Sony
`ectronics, Inc., Park Ridge, N.J.
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`21 Appl. No.: 825,595
`22 Filed:
`Apr. 1, 1997
`(51) Int. Cl." ..................................................... G08G 1/123
`52 U.S. Cl. .......................... 340/988; 340/905; 340/937;
`348/148
`58 Field of Search ..................................... 340/905, 936,
`340/937,988, 990, 995; 348/118, 148,
`149
`
`56)
`
`References Cited
`
`U.S. PATENT DOCUMENTS
`5,043,902 8/1991 Yokoyama et al...................... loss
`5,146,219 9/1992 Zechnall ...............
`3000
`5,184,123 2/1993 Bremer et al. ...
`... 340/988
`5,204,536 4/1993 Vardi ................
`... 250/551
`5,272,638 12/1993 Martin et al. .
`... 340/995
`5,544,060 8/1996 Fujii et al. ...
`... 340/995
`5,682,030 10/1997 Kubon ..................................... 235/462
`
`2273190 6/1994 United Kingdom - - - - - - - - - - - - - - - - - - - 340/905
`OTHER PUBLICATIONS
`Electronics International, “Electronic Navigator Gives
`Driver Highway Data”, Aug. 18, 1977, vol. 50, No. 17, pp.
`5E-6E.
`Primary Examiner Brent A. Swarthout
`Attorney, Agent, or Firm-Frommer Lawrence & Haug,
`LLP, William S. Frommer
`57
`ABSTRACT
`Automobile navigation System utilizes a wide angle CCD
`camera that is coupled to the vehicle to receive video images
`of Signs being approached by the vehicle. The user (e.g., the
`driver) of the System Supplies via an input keyboard the
`desired destination of the vehicle and by using, e.g., a digital
`compass, the current direction of travel of the vehicle is
`ascertained. Then, by utilizing a computer System having
`therein a road database and optical character recognition
`Software, the System converts the Video images to road data
`that identifies the current location of the vehicle, and deter
`mines from the current location of the vehicle and the
`desired destination a desired route of travel. Specific audio
`directions then are Supplied to the driver depending on the
`vehicle's current location and desired route of travel.
`
`26 Claims, 1 Drawing Sheet
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`SPEEDOMETER 22
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`COMPASS 8
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`WIDE ANGLEY
`R
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`- OPTER
`SOFTWARE
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`USER DISPLAY 2
`LIMIT: 45 MPH
`DESTINATION: MADISON,NJ
`LOCATION: 287 SOUTH
`USER INPUT
`OOOOOO
`OO) DDO
`OOOD
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`"TAKE EXIT"
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`USER AUDIO
`OUTPUT
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`Google Ex. 1009, p. 1
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`

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`US. Patent
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`Dec. 1, 1998
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`Google EX. 1009, p. 2
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`Google Ex. 1009, p. 2
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`1
`AUTOMOBILE NAVIGATION SYSTEM
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`5,844,505
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`2
`is Supplied to the driver either every time the Speed limit is
`posted or, alternatively, only when the posted Speed limit
`changes.
`AS another aspect of the present invention, Speed data
`representing the current travelling Speed of the vehicle is
`received (e.g., from the speedometer of the vehicle), a
`received Video signal representing a road sign posting a
`Speed limit is identified, and an audio warning (e.g., "slow
`down”) is given when the current travelling speed of the
`vehicle is greater than the posted Speed limit by a predeter
`mined amount (e.g., 10 mph).
`AS yet a further aspect of the present invention, Video
`Signals representing predesignated road signs (e.g., Stop
`sign, yield sign, toll booth sign) are identified, and audio
`warnings of the approachment of the predetermined road
`Signals are always Supplied or, alternatively, are Supplied
`when the current travelling Speed of the vehicle is greater
`than a predetermined speed (e.g., 30 mph).
`As a feature of this aspect, ancillary information (e.g., the
`amount of money needed to pay an upcoming toll) regarding
`a road Signal is Supplied.
`AS yet another aspect of the present invention, fuel data
`representing the amount of fuel remaining in the vehicle is
`received, a received video signal representing a fuel Service
`location is identified, and an audio warning of the approach
`ment of the fuel Service location is Supplied to the driver
`when the amount of fuel remaining in the vehicle is below
`a predetermined amount.
`
`BACKGROUND OF THE INVENTION
`The present invention relates to an automobile navigation
`System and, more particularly, to a navigation System
`designed to provide useful information, including directions
`and Safety instructions to drivers of automobiles and other
`motor vehicles.
`AS is known, the use of an automobile requires both the
`knowledge of one's destination and the ability to arrive at
`that destination safely.
`Throughout the years, there have been a number of Safety
`features that have been added to automobiles in order to
`reduce the risk of injury to drivers and passengers of motor
`vehicles as well as to pedestrians. With respect to the
`knowledge of which Streets and highways to take to arrive
`at one's desired destination, maps are available in assisting
`one's trip. However, there have been recent developments in
`automobile navigation Systems which are known as global
`positioning Systems (GPS). Unfortunately, Such systems are
`expensive Since they require global positioning System
`hardware, graphical map display hardware, digital com
`passes and on-board computers.
`Another problem with such devices is that they force
`drivers of automobiles to Stop looking at the road So that
`they may view a graphical display for directions. These
`So-called distractions result in increased probability for an
`accident to occur.
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`OBJECTS OF THE INVENTION
`Therefore, it is an object of the present invention to
`provide an automobile navigation System which overcomes
`the shortcomings of existing devices.
`Another object of the present invention is to provide an
`automobile navigation System which assists drivers in the
`navigation of automobiles in a totally Safe manner.
`A further object of the present invention is to provide an
`automobile navigation System which operates to increase the
`Safety of driving automobiles while providing navigation
`instructions to the drivers thereof.
`Various other objects, advantages and features of the
`present invention will become readily apparent to those of
`ordinary skill in the art, and the novel features will be
`particularly pointed out in the appended claims.
`
`SUMMARY OF THE INVENTION
`In accordance with one embodiment of the present
`invention, automobile navigation System and corresponding
`method are provided for receiving (e.g., via a keyboard) a
`desired destination of the vehicle (e.g., automobile, truck,
`etc.), receiving from a CCD camera (coupled to the vehicle)
`Video signals that represent road Signs being approached by
`the vehicle, determining a current direction of travel of the
`vehicle (e.g., by the use of a compass), converting the
`received Video signals to road data that indicate the current
`location of the vehicle, determining from the current loca
`tion of the vehicle and the desired destination a desired route
`of travel of the vehicle, and outputting to a driver of the
`vehicle audio directions based on the current location of the
`vehicle, the current direction of travel of the vehicle and the
`determined desired route of travel.
`AS one aspect of the present invention, a received Video
`Signal that represents a road Sign posting a speed limit is
`identified, and an audio indication of the posted Speed limit
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`The following detailed description, given by way of
`example and not intended to limit the present invention
`Solely thereto, will best be appreciated in conjunction with
`the accompanying drawings, wherein like references numer
`als denote like elements and parts, in which:
`FIG. 1 is a block diagram of the automobile navigation
`System of the present invention; and
`FIGS. 2A-2C are schematic illustrations of exemplary
`road Signs and which are used to explain the operation of the
`automobile navigation System of the present invention.
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`DETAILED DESCRIPTION OF CERTAIN
`PREFERRED EMBODIMENTS
`The automobile navigation System of the present inven
`tion determines the global position of automobiles, provides
`audible directions to drivers of the automobiles, and further
`provides audible Safety instructions in certain circum
`stances. For purposes of the description herein, the term
`“automobile” is understood to represent any motorized
`vehicles, including, but not limited to, automobiles, trucks,
`Sport utility vehicles, recreational vehicles, motorcycles, etc.
`Referring now to FIG. 1 of the drawings, a block diagram
`of the automobile navigation System of the present invention
`is shown. The automobile navigation System includes a
`computer System 10, which generally includes therein a
`central processing unit, permanent memory (ROM), tempo
`rary memory (RAM) and input/output (I/O) capability. The
`automobile navigation System further includes a user text
`display 12, a user input device 14, an audio output device
`(e.g., a speaker) 16, a digital compass 18, and a wide angle
`CCD camera 20. In addition, the automobile navigation
`System receives from the Speedometer of the automobile a
`Speed signal identifying the current Speed of the automobile.
`Alternatively, the automobile navigation System may
`include its own dedicated Speedometer which identifies the
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`Google Ex. 1009, p. 3
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`current speed of the automobile in which the automobile
`navigation System is installed.
`Computer system 10 has stored therein known optical
`character recognition Software and road map database files.
`The optical character recognition Software converts bit map
`image data Supplied from camera 20 (to be discussed) into
`recognizable patterns, for example, Street Signs identifying
`the Streets on which the automobile currently is located.
`In accordance with the present invention, wide angle
`CCD camera 20 is mounted on an appropriate location
`(either interior or exterior) of an automobile and is capable
`of imaging areas in front of and to the Side of the automobile.
`CCD camera 20 Supplies the imaged areas as a video signal
`(e.g., as bit map data) to computer System 10 which utilizes
`the optical character recognition Software algorithms therein
`to convert the Supplied Video signals into a recognized road
`Sign by utilizing various information within the Supplied
`Video signal including the text sign data (i.e., the words
`printed on the sign), the sign image shape, and the sign
`image color(s). By using each of these three elements, road
`Signs are distinguished from billboards, Store front Signs,
`etc. Computer System 10 then accesses a road map database
`therein to determine the current location of the automobile.
`The road map database may include data pertaining to road
`names and numbers, road vectors, highway exits, town/
`country/State names, as well as any other data that may be
`useful in the navigation from one location to another. Using
`the optical character recognition Software, the recognized
`road Sign may be a road number, a road name, a town name,
`a road direction (e.g., north, South, east or west), a mile
`marker, etc.
`Computer System 10 receives from compass 18 a compass
`heading direction Signal identifying the current compass
`heading of the automobile, Such signal being utilized to
`access the map data base.
`Prior to beginning a trip (or even possibly during the trip),
`a user (e.g., the driver of the automobile) enters the desired
`destination via user input device 14, which may be in the
`form of a keyboard. Alternatively, user input device 14 is a
`microphone or other audio receiver which receives audio
`information (i.e., spoken information) from the user, Such
`audio information being converted in computer System 10 to
`destination data indicating the desired destination of the
`automobile. The user may also Supply the current location of
`the automobile if such information is not readily available to
`the automobile navigation System, for example, as when the
`automobile is parked in a garage.
`From the current location of the automobile (either user
`Supplied or derived from the Video images, as discussed
`above) and the entered destination, computer System 10
`accesses its road map data base to derive one (or more)
`routes to the destination. One route may represent the
`quickest route to the destination, while another route may
`represent the “easiest' route, depending on the needs of the
`driver (e.g., prefers highways to Streets, etc.). Computer
`System 10 then Supplies to user display 12 (e.g., a text
`display) particular information that is displayed thereon,
`including, for example, the desired destination, its location
`in terms of number of miles and direction, and the current
`Speed limit (as shown). The display 12 may provide other
`information including, but not limited to, the particular route
`selected. It is noted that while the preferred embodiment
`includes user display 12, Such a display is not necessary to
`carry out the functions of the automobile navigation System
`of the present invention, as will be discussed.
`Upon beginning the trip, computer System 10 ascertains
`the automobile's present position using the Video data
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`Supplied thereto (as previously discussed), and accesses its
`road map data base to determine whether or not the driver
`must take Some action, other than to remain on the same road
`in the same direction, to stay "on route' to the desired
`destination. Thus, the automobile navigation System ascer
`tains all turns and highway exits (and other necessary
`actions) to take prior to (or, alternatively, during) the trip and
`as the automobile approaches a turn or highway exit (or
`other action) that should be taken, computer system 10
`Supplies to audio output device 16 an appropriate audio
`instruction that informs the driver of the action to be taken.
`For example, as the automobile approaches a highway exit
`that should be taken to remain on route, the audible instruc
`tion “take this exit' is Supplied to the user. Thus, any and all
`instructions that the driver needs to arrive at the desired
`destination by means of the desired route are Supplied in the
`form of audio instructions.
`In addition to being able to recognize “Street' Signs, Such
`as shown in FIGS. 2B and 2C, the automobile navigation
`System of the present invention further is operable to rec
`ognize other signs including, for example, a Speed limit sign,
`such as shown in FIG. 2A of the drawings.
`AS an aspect of the present invention, computer System 10
`Supplies an appropriate audio warning to the driver Such as,
`for example, “entering a twenty-five mile per hour area',
`when the Speed limit as posted on the imaged sign indicates
`"25 mph. Alternatively, Speed limit changes may be Stored
`in the road map data base, and when computer System 10
`determines that the automobile is in an area having a
`changed speed limit, an appropriate audio warning can be
`provided via the audio output or appropriate text can be
`provided on user display 12.
`AS a further aspect of the present invention, computer
`System 10 can utilize the current Speed of the automobile, as
`provided for by the Speed signal Supplied from Speedometer
`22, to instruct the driver to “slow down” when the posted
`Speed limit (whether changed or not) is Substantially less
`than (e.g., 10 mph less than) the current speed of the
`automobile. The user can also predefine the amount at which
`the audio warning should be given. For example, the user
`could instruct the automobile navigation System to warn the
`driver when the Speed limit is exceeded by at least ten miles
`per hour, and if the automobile exceeds the Speed limit by at
`least this amount, the audible instruction “exceeding limit”
`is provided.
`AS another feature of the present invention, the automo
`bile navigation System can be programmed by the user to
`warn the driver of particular Signs including, for example,
`Stop signs, yield Signs, School Zone signs, etc. Appropriate
`audible instructions may be Supplied each time Selected
`Signs are approached, or, alternatively, appropriate audible
`instructions are Supplied only when Selected Signs are
`approached and the current Speed, as indicated by the Speed
`Signal Supplied from Speedometer 22, exceeds predeter
`mined amounts thus indicating that the driver may not be
`aware of the approaching sign. For example, if the automo
`bile is approaching a stop sign (as imaged by CCD camera
`20 or as indicated in the road map database) and the current
`Speed of the automobile is, e.g., 40 mph, computer System
`10 would Supply via audio output 16 the audio message
`“Stop sign ahead'. Thus, automobile and pedestrian Safety
`are greatly enhanced with Such warnings being provided.
`In accordance with another embodiment of the present
`invention, the automobile navigation System is operable to
`receive from the automobile's fuel gauge, a fuel gauge
`Signal indicating the amount of fuel in the gas tank. In Such
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`Google Ex. 1009, p. 4
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`

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`S
`case, audible warnings can be provided when it is deter
`mined that the fuel tank is low. Alternatively, audible warn
`ings (or instructions) that a recognized Service area (as
`imaged by CCD camera 20) is being approached can be
`provided only when the fuel tank is low. Still further, the
`presence of Service areas can be included in the road map
`data base, wherein appropriate audible instructions to "fuel
`up the tank' can be provided when a Subsequent Service area
`(after the current one being approached) is relatively far
`from the current position of the automobile. Thus, the
`automobile navigation System can be utilized to ensure that
`the fuel tank of the automobile never becomes empty.
`The automobile navigation System of the present inven
`tion further is operable to recognize other types of Signs in
`which appropriate driver action may be necessary. For
`example, the recognition of toll booth Signs may be audibly
`Supplied to the driver, as well as the amount of money that
`is required for the toll. AS another example, the recognition
`of road construction Signs can result in audible instructions
`to “slow down”. Of course, other useful information can be
`audibly Supplied to the user, including the amount of esti
`mated travel time and the approximate mileage remaining to
`reach the desired destination.
`From the foregoing discussion, it is seen that the auto
`mobile navigation System of the present invention operates
`to ascertain a desired route to a Selected destination, to
`provide audible destination instructions to the driver so that
`the automobile may reach the desired destination without the
`use of, for example, a map, to provide cautionary instruc
`tions to maximize driver, passenger and pedestrian Safety,
`and to provide other types of information that are designed
`to make the trip more enjoyable, Safer and problem free (or,
`at least, minimizes possible problems) to the user.
`While the present invention has been particularly shown
`and described in conjunction with preferred embodiments
`thereof, it will be readily appreciated by those of ordinary
`skill in the art that various changes may be made without
`departing from the Spirit and Scope of the invention.
`Therefore, it is intended that the appended claims be
`interpreted as including the embodiments described herein,
`the alternatives mentioned above, and all equivalents
`thereto.
`What is claimed is:
`1. Automobile navigation System, comprising:
`means for receiving video signals representing Standard
`road Signs being approached by a vehicle;
`means for determining a current direction of travel of Said
`vehicle;
`means for receiving a desired destination of Said vehicle;
`audio output means for outputting audio messages to a
`driver of said vehicle; and
`control means for converting predetermines ones of Said
`Video signals to road data indicating a current location
`of Said vehicle based on information including at least
`one of road sign text, color or shape; for determining
`from Said current location of Said vehicle and Said
`desired destination a desired route of travel of Said
`vehicle; and for controlling Said audio output means to
`output to Said driver audio directions based on the
`current location of Said vehicle, the current direction of
`travel of Said vehicle and the determined desired route
`of travel.
`2. The automobile navigation System of claim 1, wherein
`Said control means includes means for determining if an
`upcoming action is to be taken by Said driver of Said vehicle
`based on the current location of Said vehicle, the current
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`direction of travel of said vehicle and the determined desired
`route of travel; and for controlling Said audio output means
`to output to Said driver an audio instruction corresponding to
`the upcoming action to be taken.
`3. The automobile navigation System of claim 1, wherein
`Said means for receiving video signals is comprised of a
`CCD camera coupled to Said vehicle for imaging Signs being
`approached by Said vehicle and for converting Said imaged
`Signs to Said Video signals.
`4. The automobile navigation System of claim 1, wherein
`Said control means is operable to identify a Video signal
`representing a road sign posting a speed limit and to control
`Said audio output means to output to Said driver an audio
`indication of the posted Speed limit.
`5. The automobile navigation system of claim 1, wherein
`Said control means is operable to identify a Video signal
`representing a road sign posting a speed limit and to control
`Said audio output means to output to Said driver an audio
`Speed limit change warning when the posted Speed limit
`changes.
`6. The automobile navigation system of claim 1, further
`comprising means for receiving Speed data representing a
`current travelling Speed of Said vehicle, and wherein Said
`control means is operable to identify a Video signal repre
`Senting a road sign posting a speed limit, and to control Said
`audio output means to output to Said driver an audio warning
`when the current travelling Speed of Said vehicle is greater
`than the posted Speed limit by a predetermined amount.
`7. The automobile navigation system of claim 6, wherein
`Said control means is further operable to control Said audio
`output means to output to Said driver Said audio warning
`when the current travelling Speed of Said vehicle is greater
`by a predetermined amount than a last posted Speed limit
`represented by a previously received video signal.
`8. The automobile navigation system of claim 6, wherein
`Said audio warning is an audio instruction to Slow down.
`9. The automobile navigation system of claim 1, wherein
`Said control means is operable to identify Video signals
`representing predetermined road Signs, and to control Said
`audio output means to output to Said driver audio warnings
`of the approachment of Said predetermined road Signs.
`10. The automobile navigation system of claim 9, wherein
`Said control means is further operable to control Said audio
`output means to output to Said driver ancillary information
`regarding Selected ones of Said predetermined road signs
`being approached.
`11. The automobile navigation system of claim 10,
`wherein Said control means controls Said audio output means
`to output audio information indicating an amount of money
`needed for an approaching toll.
`12. The automobile navigation system of claim 1, further
`comprising means for receiving Speed data representing a
`current travelling Speed of Said vehicle, and wherein Said
`control means is operable to identify video signals repre
`Senting predetermined Selected road Signs, and to control
`Said audio output means to output to Said driver audio
`warnings of the approachment of Said predetermined road
`Signals when the current travelling Speed of Said vehicle is
`greater than a predetermined speed.
`13. The automobile navigation system of claim 1, further
`comprising means for receiving fuel data representing an
`amount of fuel remaining in Said vehicle; and wherein Said
`control means is operable to identify a Video signal repre
`Senting a fuel Service location, and to control Said audio
`output means to output to Said driver an audio warning of the
`approachment of Said fuel Service location when the amount
`of fuel remaining in Said vehicle is below a predetermined
`amount.
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`Google Ex. 1009, p. 5
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`7
`14. Method of navigating a vehicle, comprising the Steps
`of:
`receiving a desired destination of a vehicle;
`receiving Video signals representing Standard road signs
`being approached by Said vehicle;
`determining a current direction of travel of Said vehicle;
`converting predetermines ones of the received Video
`Signals to road data indicating a current location of Said
`vehicle based on information including at least one of
`road sign text, color or shape;
`determining from Said current location of Said vehicle and
`Said desired destination a desired route of travel of Said
`vehicle; and
`outputting to a driver of Said vehicle audio directions
`based on the current location of Said vehicle, the current
`direction of travel of Said vehicle and the determined
`desired route of travel.
`15. The method of claim 14, wherein said step of output
`ting is carried out by determining an upcoming action to be
`taken by a driver of said vehicle based on the current
`location of Said vehicle, the current direction of travel of Said
`vehicle and the determined desired route of travel, and by
`outputting to Said driver an audio instruction corresponding
`to the upcoming action to be taken.
`16. The method of claim 14, wherein said step of receiv
`ing video Signals includes the Steps of imaging Signs being
`approached by Said vehicle by a CCD camera coupled to
`Said vehicle and converting Said imaged Signs to Said video
`Signals.
`17. The method of claim 14, further comprising the steps
`of identifying a received Video signal representing a road
`Sign posting a Speed limit, and outputting to Said driver an
`audio indication of the posted Speed limit.
`18. The method of claim 14, further comprising the steps
`of identifying a received Video signal representing a road
`Sign posting a Speed limit; and outputting to Said driver an
`audio speed limit change warning when the posted Speed
`limit changes.
`19. The method of claim 14, further comprising the steps
`of receiving Speed data representing a current travelling
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`Speed of Said vehicle; identifying a received Video signal
`representing a road Sign posting a speed limit; and output
`ting to Said driver an audio warning when the current
`travelling Speed of Said vehicle is greater than the posted
`Speed limit by a predetermined amount.
`20. The method of claim 19, wherein said step of output
`ting to Said driver an audio warning is carried out also when
`the current travelling Speed of Said vehicle is greater by a
`predetermined amount than a last posted Speed limit repre
`Sented by a previously received video signal.
`21. The method of claim 19, wherein said audio warning
`is an audio instruction to slow down.
`22. The method of claim 14, further comprising the steps
`of identifying received Video Signals representing predeter
`mined road Signs, and outputting to Said driver audio warn
`ings of the approachment of Said predetermined road Signs.
`23. The method of claim 22, further comprising the step
`of outputting to Said driver ancillary information regarding
`Selected ones of Said predetermined road Signs being
`approached.
`24. The method of claim 23, wherein said step of output
`ting ancillary information is carried out by indicating an
`amount of money needed for an approaching toll.
`25. The method of claim 14, further comprising the steps
`of receiving Speed data representing a current travelling
`Speed of Said vehicle; identifying received Video signals
`representing predetermined Selected road Signs, and output
`ting to Said driver audio warnings of the approachment of
`Said predetermined road Signals when the current travelling
`Speed of Said vehicle is greater than a predetermined Speed.
`26. The method of claim 14, further comprising the steps
`of receiving fuel data representing an amount of fuel remain
`ing in Said vehicle; identifying a received Video signal
`representing a fuel Service location; and outputting to Said
`driver an audio warning of the approachment of Said fuel
`Service location when the amount of fuel remaining in Said
`vehicle is below a predetermined amount.
`
`Google Ex. 1009, p. 6
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`