United States Patent (19)
`Lefebvre
`
`|||||||||||||III
`USOO5243528A
`11
`Patent Number:
`5,243,528
`45) Date of Patent:
`Sep. 7, 1993
`
`54
`
`(75
`
`73
`21)
`22
`(51)
`52
`58
`
`(56)
`
`LAND VEHICLE NAVIGATION APPARATUS
`WITH VISUAL DISPLAY
`Rebecca K. Lefebvre, Arlington
`Inventor:
`Heights, Ill.
`Assignee:
`Motorola, Inc., Schaumburg, Ill.
`Appl. No.: 581,495
`Filed:
`Sep. 12, 1990
`Int. Cl. .............................................. G06F 15/50
`U.S. C. .................................... 364/449; 364/444;
`340/990; 340/995
`Field of Search ............... 340/988, 990,995, 996,
`340/701, 703,721, 729; 364/449, 444, 443,446,
`424.01, 424.02; 395/103, 127, 128, 135, 138, 139
`References Cited
`U.S. PATENT DOCUMENTS
`4,511,973 4/1985 Miura et al. ......................... 364/449
`4,570,227 2/1986 Tachi et al. ......
`... 364/444
`4,635,202 l/1987 Tsujii et al. ......................... 364/449
`4,679,147 7/1987 Tsujii et al...
`... 364/449
`4,716,404 12/1987 Tabata et al. ....
`340/995 X
`4,757,455 7/1988 Tsunoda et al. .................... 364/449
`4,761,742 8/1988 Hanabusa et al. .................. 364/443
`4,763,270 8/1988 Itoh et al..............
`... 364/449
`4,774,672 9/1988 Tsunoda et al. .
`... 364/449
`4,782,447 3/1986 Ueno et al. ...........
`... 364/449
`4,796,189 1/1989 Nakayama et al
`... 364/449
`4,827,420 5/1989 Musa ....................
`... 364/449
`4,896,154 1/1990 Factor et al.
`... 340/995
`4,897,792 1/1990 Hosoi ...............
`... 364/449
`4,914,605 4/1990 Loughmiller, Jr. et al. ... 364/443 X
`4,926,336 5/1990 Yamada ............................... 364/444
`4,937,570 6/1990 Matsukawa et al.
`... 340/995 X
`4,937,752 6/1990 Nanba et al. ........................ 364/449
`4,951,211 8/1990 De Villeroche .
`... 364/444
`4,951,212 8/1990 Kurihara et al. .................... 364/449
`
`4,963,864 10/1990 Iihoshi et al. ................... 364/449 X
`4,974,170 1 1/1990 Bouve et al......
`... 364/444 X
`4,989,151 1/1991 Nuimura ............................. 364/449
`4,992,947 2/1991 Nimura et al. ...................... 364/444
`5,089,826 2/1992 Yano et al. ...................... 364/449 X
`OTHER PUBLICATIONS
`Transportation for the Future, "Automotible Navigation
`Technology: Where Is It Going?” by Robert L. Franch,
`May 24-25, 1988.
`Primary Examiner-Vincent N. Trans
`Assistant Examiner-Thomas S. Auchterlonie
`Attorney, Agent, or Firm-Phillip H. Melamed; John H.
`Moore
`ABSTRACT
`57
`Land vehicle navigation apparatus (10) with a visual
`display (16, 20) is provided. The apparatus provides a
`visual display of a calculated navigation route (22) with
`a visual indication (23) of the direction of desired travel
`along the navigation route. An off route map display
`portion (28) is provided which has the visual navigation
`route display (22) in one color and, in a second contrast
`ing color, a visual display (24, 26) of actual vehicle
`travel. A separate additional feature is that an off route
`display (20) provides a visual display portion (29) of a
`plurality of operator selectable off route recovery op
`tions (1-6). Off route recovery means (12, 49-63) are
`provided such that the vehicle operator can implement
`the visually displayed recovery options. The result is a
`navigation system which visually provides vehicle navi
`gation information to the vehicle operator in an im
`proved minimal comprehension time format, and allows
`the vehicle operator to select for himself how to re
`cover from an off route condition.
`
`37 Claims, 4 Drawing Sheets
`
`
`
`12
`
`20
`
`21
`
`OFF ROUTE
`
`22C
`ZZZZZZZZ 22
`2 OAK ST.
`3 6
`2Y22B
`27
`SUNSET AWE.
`AM 2
`2. 2 N 3s 2
`
`RECOVERY OPTIONS
`1. PLAN A NEW ROUTE
`2. GUIDE ME BACK TO
`PLANNED ROUTE
`3. SUSPEND
`4. CANCEL
`5, ADD DETOURS
`6. SHOW COMPASS
`
`Hyundai Exhibit 1006, Page 1 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`Sep. 7, 1993
`
`Sheet 1 of 4
`
`5,243,528
`
`14
`DIRECTION, DISTANCE,
`POSITION SENSORS
`
`AV C. 7
`10
`
`NAVIGATION COMPUTER
`ff
`R-1A
`MEMORY
`
`COLOR CRT DISPLAY
`
`13
`
`ROAD WAP DATA
`NEMORY
`
`
`
`
`
`INPUT DEVICE
`
`
`
`OFF ROUTE
`
`220
`(2222222-22
`2 OAK S.
`2Y22B
`27
`26 25
`2 6
`SUNSET AWE.
`SN y N
`
`2
`
`2 2 A
`
`RECOVERY OPTIONS
`1. PLAN A NEW ROUTE
`2. GUIDE ME BACK TO
`PLANNED ROUTE
`3. SUSPEND
`4. CANCE
`5. ADD DETOURS
`6. SHOW COMPASS
`
`Hyundai Exhibit 1006, Page 2 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`Sep. 7, 1993
`
`Sheet 2 of 4
`
`5,243,528
`
`CSTART)-31
`32
`
`
`
`
`
`33
`
`ANY
`COMMAND
`INPUT RECEIVE
`
`
`
`YES
`
`34
`
`NO
`m
`
`CANCE
`CONASS
`
`NO
`
`36
`
`YES
`
`YES
`
`57
`
`OBTAIN PRESENT
`POSITION
`
`64
`CANCE VISUAL
`COMPASS DISPLAY
`
`
`
`
`
`
`
`RECEIVE NEW START LOCATION,
`DESTINATION(S), ROUTE
`PREFERENCE AND
`DETOUR TRIP DATA
`
`STORE TRIP DATA
`IN MEMORY
`
`37
`
`N.
`
`30
`AA C. 34
`
`Hyundai Exhibit 1006, Page 3 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`Sep. 7, 1993
`
`Sheet 3 of 4
`
`5,243,528
`
`-38
`
`CALCULATE ROUTE
`
`PERFORM ROUTE GUIDANCE
`AND MONITOR WEHICLE LOCATION
`
`39
`
`40
`
`a
`
`A 6.3A
`
`
`
`
`
`
`
`YES
`SHOW OFF ROUTE DISPLAY
`
`43
`
`WONITOR FOR BACK ON ROUTE
`
`45
`
`BACK
`ON ROUTE
`NO
`UPDATE WEHICLE PATH
`
`
`
`IS
`VEHICLE
`OFF NAP, DISPL)
`
`REDRAW WAP WITH CURRENT
`VEHICLE LOCATION AT CENTER
`
`
`
`NO
`
`
`
`RECOVERY
`OPTIONCHOSEN
`
`YES
`
`Hyundai Exhibit 1006, Page 4 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`Sep. 7, 1993
`
`Sheet 4 of 4
`
`5,243,528
`
`
`
`OPTION=
`PLAN NEW
`RoyTE
`
`50
`
`YES
`
`51
`SET START POINT=
`CURRENT LOCATION
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`OPTION=
`RETURN TO CURRENT
`RoyTE
`
`
`
`
`
`OPTION=
`SUSPEND
`ROUTE syIDANCE
`
`
`
`OPTION=
`CANCE
`ROUTE syIDANCE
`
`
`
`
`
`OPTIONs
`SPECIFY DETOURS
`AND PLAN NEW
`RoyTE
`NO
`
`
`
`SHOW
`CONASS
`YES
`ERASE OFF ROUTE DISPLAY,
`PROVIDE VISUAL
`COMPASS DISPLAY
`
`
`
`
`
`
`
`
`
`SET START POINT =
`CURRENT LOCATION, SET
`FIRST DESTINATION POINT
`=DEVIATION POINT FROM
`CURRENT ROUTE, SET NEXT
`DESTINATION POINTS=
`OLD DESTINATIONS
`NOT YET REACHED.
`
`CANCEL ROUTE GUIDANCE,
`VEHICLE TRACKING AND
`OFF ROUTE DISPLAY, RETAIN
`TRIP DATA IN MEMORY
`
`CANCEL ROUTE GUIDANCE
`AND OFF ROUTE DISPLAY,
`ERASE TRIP DATA IN MEMORY
`
`
`
`
`
`GET ROAD SECMENTS TO BE
`AVOIDED FROM USER, SET
`START =CURRENT POSITION.
`
`52
`
`CANCE OFF ROUTE DISPLAY
`
`3
`6
`
`R
`AV C. 3 C,
`
`Hyundai Exhibit 1006, Page 5 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`LAND VEHICLE NAVIGATION APPARATUS
`WITH VISUAL DISPLAY
`
`5,243,528
`2
`additional navigation instructions with regard to resum
`ing his previous route and/or sometimes the vehicle
`operator may intentionally deviate from the previous
`route but wants to resumes the route with or without
`some modification at a later time. In other words, prior
`systems have not sufficiently taken into account the
`various reasons why an off course condition occurs, and
`therefore they do not provide sufficient options to the
`driver with regard to recovering, in an efficient manner,
`from an off course condition. Prior systems also typi
`cally don't remind the vehicle operator what off route
`recovery options are available.
`In addition, prior systems have not efficiently visually
`displayed to the vehicle operator the difference be
`tween his present vehicle movement and the calculated
`route such that the operator himself can correct for off
`route deviations. While some prior systems have visu
`ally displayed the desired route, and some of these have
`also displayed current vehicle position, this has typi
`cally not been done in a minimal time comprehension
`format to permit, without excessive distraction, the
`vehicle operator himself to correct for off route devia
`tions.
`
`FIELD OF THE INVENTION
`The present invention relates to the field of land vehi
`cle navigation apparatus which provides a visual dis
`play to the operator (driver) of a land vehicle. More
`specifically, the present invention relates to the type of
`10
`land vehicle navigation visual displays which are pro
`duced so as to more readily assist the vehicle driver
`with vehicle navigation.
`BACKGROUND OF THE INVENTION
`Some prior land vehicle navigation apparatus calcu-
`late a desired navigation route, via fixed road path infor
`nation stored in a memory, between a start location of
`the vehicle and a desired destination location. Some of
`these systems then determine estimated current vehicle
`position by dead reckoning and/or other vehicle loca
`20
`tion techniques, and provide audible and/or visual route
`guidance to the vehicle operator to guide the vehicle
`along the desired vehicle navigation route. One such
`prior system is described in co-pending U.S. patent
`application Ser. No. 07/543,319 to Smith, entitled,
`25
`"Land Vehicle Navigation Apparatus', which is as
`signed to the same Assignee as the present invention.
`Other such vehicle navigation systems are described in
`the article, "Automobile Navigation Technology;
`Where is it Going?" by Robert L. French prepared for
`the, "First Transportation for the Future Conference"
`held in May, 1988.
`Some prior navigation systems illustrate the naviga
`tion route, via fixed road paths, which they calculate
`between a start location and a desired destination. Other
`navigation systems just provide vehicle maneuver infor
`nation at various intersections along the calculated
`navigation route. Some prior systems display in visual
`highlighted form the progress, actual vehicle travel
`track, of a vehicle along predetermined road paths
`which are defined by map information stored in a mem
`ory. Some systems such as those mentioned above have
`been commercially marketed, but they have failed to
`achieved wide spread commercial success.
`One of the problems which must be solved in vehicle
`navigation systems is how to rapidly convey to the
`vehicle operator sufficient navigation information, and
`how this can be achieved without causing any excessive
`distraction of the vehicle operator while he is driving
`the vehicle. Audible navigation maneuver instructions
`may not efficiently provide sufficient navigation infor
`mation to the driver, and therefore visual navigation
`display information will also typically be provided.
`However, some prior visual navigation displays are
`complex and require a lengthy comprehension time for
`55
`the vehicle driver. This is not only undesirable but rep
`resents a potentially dangerous situation since the vehi
`cle driver may be distracted from his primary function
`of driving the land vehicle. If only very simple visual
`displays are provided, such as just illustrating desired
`turns, then sufficient navigation information may not be
`provided to the driver, especially if the driver varies
`from his planned navigation route.
`It is often necessary and/or desirable to advise the
`operator when he has deviated from a desired planned
`navigation route. Prior systems which have advised the
`operator when he is off route, typically have not taken
`into account that sometimes the operator may require
`
`OBJECTS OF THE INVENTION
`An object of the present invention is to provide an
`improved land vehicle navigation apparatus which has
`an improved visual display that assists the vehicle oper
`ator in implementing a vehicle navigation route.
`A more specific object of the present invention is to
`provide a land vehicle navigation apparatus with a vi
`sual display that provides navigation information to the
`vehicle operator in an improved minimal time compre
`hension format.
`Another more specific object of the invention is to
`provide an improved land vehicle navigation apparatus
`which permits the vehicle operator to efficiently select
`how he wants to respond to a detected off course condi
`tion.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`For a more complete understanding of the invention,
`reference should be made to the drawings, in which:
`FIG. 1 is a schematic diagram of a land vehicle navi
`gation apparatus which implements the present inven
`tion;
`FIG. 2 is an illustration of a typical graphic visual
`display which may be produced by the apparatus shown
`in FIG. 1; and
`FIGS. 3A-3C comprise a flowchart which illustrates
`the operation of the apparatus in FIG. 1 in connection
`with the providing of the visual display shown in FIG.
`2.
`
`DESCRIPTION OF THE PREFERRED
`EMBODIMENTS
`FIG. 1 illustrates a land vehicle navigation apparatus
`10 which includes a navigation computer 11, preferably
`containing a microprocessor or other similar type of
`semiconductor computer. The computer 11 receives
`inputs from a manually actuable keyboard input device
`12, a memory 13 containing stored road map data, and
`various vehicle sensors 14 which include vehicle direc
`tion, distance and position sensors. Basically, in re
`sponse to input commands from the input keyboard
`device 12, the navigation computer 11 will calculate a
`desired navigation route for a vehicle (not shown) in
`
`30
`
`35
`
`45
`
`50
`
`65
`
`Hyundai Exhibit 1006, Page 6 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`O
`
`5,243,528
`3
`4.
`which the navigation apparatus 10 is installed. This
`vehicle travel, or, if that does not occur, the automatic
`desired navigation route will be via fixed road paths
`cancellation of the previous calculated route or the
`which are defined by the road map data stored in the
`calculation of a new route. This does not adequately
`memory 13. This data can be stored on a compact disc
`take into account the desires of the vehicle operator
`(CD) which is loaded into the navigation computer for
`which may be to be request guidance information from
`various different geographical areas, or the road map
`the navigation computer to guide him back to the previ
`ous router to modify the previous route or plan a new
`data can be received dynamically as the vehicle travels
`into various different geographical areas.
`route from his current position rather than trying to
`resume the previous calculated route. Prior systems
`The sensors 14 essentially provide vehicle direction
`information, via direction sensors such as a flux gate
`have generally offered just one of the above three op
`tions to the operator, but it is clear that any of these
`compass and/or a differential odometer. Such direction
`sensors are known and used in prior navigation systems
`three may be desired by a vehicle operator.
`The visual displays which were previously provided
`either alone on in combination. In addition, the sensors
`14 include wheel travel distance sensors which provide
`to indicate an off course deviation from a planned route
`- were not short time comprehension displays so as to
`information as to vehicle distance traveled. The sensors
`15
`14 may also include position sensors such as global
`rapidly enable the operator to see his deviation and
`positioning system (GPS) receivers which provide pre
`allow the operator to self-correct for vehicle course
`cise vehicle position location information. If GPS posi
`deviation and resume his original route. One major
`tion sensors are not utilized, or only occasionally used,
`reason for this was the failure of the prior visual display
`then the navigation computer will implement dead
`to indicate the direction of desired travel for the calcu
`20
`reckoning navigation computations based on distance
`lated route. Also it was hard to instantly distinguish
`traveled and vehicle direction. The implementation of
`between the planned route visual display and the actual
`dead reckoning position computations by a navigation
`travel visual display. These deficiencies of prior systems
`system is very well known.
`have been overcome by the apparatus 10.
`In response to receiving commands from the input
`Several major features of the apparatus 10 relate to
`25
`implementing various visual displays in response to
`device 12, the road map data from memory 13 and
`sensor data from the sensors 14, the navigation com
`detecting an off route condition which is indicative of
`puter 11 will compute the desired navigation route
`the estimated current vehicle position differing from the
`between present vehicle location and the desired desti
`calculated navigation route in accordance with a prede
`nation location specified by the input device 12. After
`termined off route criteria. This "off route criteria' can
`30
`computing a desired navigation route, the navigation
`correspond to the estimated current vehicle position
`computer 11 will then implement both audible and vi
`differing by more than a predetermined amount of dis
`sual navigation guides to the vehicle operator to guide
`tance from the desired navigation route. This determi
`the vehicle to the destination along the calculated route.
`nation can be made by comparing vehicle current posi
`The audible navigation guides are provided by an audi
`tion with the vehicle position that should have been
`35
`ble speaker 15 shown in FIG. 1, while the visual guides
`obtained if the vehicle had travelled a known distance
`are preferably provided by a color CRT display 16
`and followed the planned navigation course along the
`shown in FIG. 1. In prior systems, both audible and
`road paths defined by the data stored in memory 13.
`Many prior navigation systems use a map matching
`visual guidance information is provided to the vehicle
`operator to alert him as to desired navigation maneu
`technique to determine when sensed (measured) vehicle
`vers which are to be implemented at various roadway
`position should be corrected such that actual vehicle
`intersections encountered during implementation of the
`position is on one of the predetermined road paths
`desired vehicle navigation route. The timing for these
`stored in a memory. However, if such a correction
`maneuver instructions is implemented in accordance
`exceeds a predetermined distance, then it is assumed
`with the navigation computer 11 determining estimated
`that the vehicle is no longer on a possible roadway. In
`45
`current position of the vehicle either by a dead reckon
`a similar manner, off route detection can occur by re
`ing determination based on direction and distance trav
`quiring that the vehicle not only to be on a stored road
`eled for the vehicle or by use of a GPS position re
`way path, but that the vehicle be on a stored roadway
`path which comprises a segment of the calculated vehi
`ceiver.
`Systems such as the navigation system 10 which have
`cle navigation route and that the vehicle is proceeding
`50
`in a desired direction. Such off route navigation detec
`the basic features discussed above are well known and
`many such systems are described in prior technical
`tion is implemented in software that is currently avail
`able from Navigation Technologies Corporation of
`articles. Some prior systems have noted that when ac
`tual vehicle travel deviates from a calculated navigation
`California, USA. Similar other off route detection sys
`tems are described in prior navigation literature. How
`route, it is desired to provide a visual indication of such
`deviations so as to alert the vehicle operator. However,
`ever, it is not the implementation of off route detection
`such prior systems fail to visually indicate to the vehicle
`of such systems which comprises a major feature of the
`operator, in a short time comprehension format, his
`apparatus 10, but it is the type of visual displays which
`deviation from the previously calculated route. Thus
`are produced in response to such an off route detection
`the operator may not be able to immediately distinguish
`which provide substantial advantages for the apparatus
`between his present travel path and present location and
`10.
`Referring now to FIG. 2, in response to an off route
`the desired travel path desired travel and direction.
`Also, typically such prior systems do not provide the
`detection by the navigation computer 11, a visual dis
`vehicle operator with a plurality of operator selectable
`play 20 is produced on the color CRT display 16. The
`recovery options, and do not advise the operator what
`major characteristics of the display 20 are an "OFF
`65
`recovery options are available. Typically, the only the
`ROUTE' text heading 21 which identifies the display
`options provided to the operator are either his resump
`as an off route display. Thus the existence of the off
`tion of the previous route within a specified amount of
`route text heading 21 visually indicates to the operator
`
`55
`
`Hyundai Exhibit 1006, Page 7 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`15
`
`5,243,528
`5
`6
`that he is off route. This may also be accompanied by a
`chart 30 is entered at an initial start point 31 and pro
`suitable distinctive audible warning produced by the
`ceeds through a terminal 32 to a decision block 33
`speaker 15. The display 20 preferably is only imple
`which asks if any navigation command inputs are re
`mented in response to an off route condition.
`ceived from the input device 12. If not, control recircu
`The display 20 includes a visual display 22, in one
`lates to the terminal 32 and the apparatus 10 waits for
`color, of at least a portion of the calculated navigation
`receipt of a navigation command input signal. Once a
`route which traverses a plurality of road path intersec
`navigation input command is received, a decision block
`tions 22A, 22B, 22C. The display 22 includes a visual
`34 asks if this command was to resume a previously
`calculated trip, defined by trip data, to a previously
`indication, in the form of an arrowhead 23, of the de
`sired direction of travel along the calculated navigation
`specified destination. The term "trip data” as used
`10
`route. In addition, the display 20 includes a visual dis
`herein includes data identifying the prior destination
`and any previous navigation route preference data
`play 24, in a contrasting color, of actual vehicle travel
`from at least an initially calculated point 25 at which the
`which was programmed into the computer 11 from the
`input device 12. Typically a vehicle operator may spec
`vehicle deviated from the calculated route to the esti
`mated current vehicle position. In FIG. 2 the estimated
`ify that his navigation route should have the shortest
`current vehicle position corresponds to an arrowhead
`time, or take the scenic route, or avoid certain roads
`26 superimposed on and part of the actual vehicle travel
`/areas, etc., and this comprises the route preference
`display 24. The orientation of arrowhead 24 indicates
`data. If the decision block 34 determines that a resume
`trip command has not been received, control passes to a
`current sensed vehicle travel direction.
`The displays 24 and 26 are preferably provided in a
`decision block 35 which determines if a cancel the vi
`20
`red color whereas the displays 22 and 23, are provided
`sual compass display command has been received. If
`in a blue or green color. In addition, various nonhigh
`not, control passes to a process block 36. The decision
`lighted road paths 27 which are not part of the planned
`blocks 34 and 35 relate to navigation operations which
`may have been implemented by subsequent process
`route are also provided as part of the off route visual
`display 20. The off route display 20 preferably should
`blocks in the flowchart 30, and therefore these decision
`25
`include the road paths 27 which are within a predeter
`blocks will be further discussed subsequently.
`mined radius (e.g. mile) of the deviation point 25 and
`At process block 36, since blocks 34 and 35 have
`thus within the vicinity of the deviation point 25. Pref
`determined that the received command input is not
`requesting the resumption of a previous specified trip or
`erably, the length of the actual vehicle travel visual
`the cancelling of a visual compass display, new naviga
`display 24 has a maximum length dimension such that
`30
`after a sufficient amount of vehicle travel the tail of an
`tion trip data will be received. At block 36 the naviga
`arrow, comprising the displays 24 and 26, may not nec
`tion computer 11 will receive new destination, route
`essarily have a direct connection to the displayed navi
`preference and detour trip data from the input device
`gation route 22. This can readily be achieved by merely
`12. In other words, for a new trip the vehicle operator
`erasing prior vehicle travel path indications as vehicle
`will specify, via keyboard 12, where he wants to go,
`travel continues. Such a track erasing technique is
`what type of route he would prefer to have the com
`readily implementable by standard software visual dis
`puter 11 calculate for him and any route "detours".
`play techniques for tracking the vehicle position. This is
`"Detours' are defined as non-desired road segments or
`desirable to prevent the visual display 20 from becom
`map areas which are to be avoided. The navigation
`ing too cluttered in case the actual off route vehicle
`computer 11 will also receive the present vehicle start
`position or location. This position may also be specified
`travel continues for a substantial distance or vehicle
`travel loops back on itself.
`by the input device 12, or the position information may
`What has been described so far and is indicated by the
`be obtained from the sensors 14, if they include a vehi
`visual displays 22 through 27 is referred to as the map
`cle position sensor, or from previous dead reckoning
`portion 28 of the visual display 20. In addition, the
`vehicle position calculations by the computer 11.
`45
`visual display 20 includes a recovery option table por
`After process block 36, process block 37 stores all of
`tion 29 which is shown in FIG. 2. The table portion 29
`the "trip data", including current vehicle position, in a
`comprises a table listing of six different recovery option
`trip memory portion 11A which is internal to the navi
`legends numbered 1 through 6. Each of these legends
`gation computer 11. Then control passes through a
`represents a different recovery option which can be
`terminal 38 and then to a route calculation block 39
`50
`selected by the vehicle operator by means of the input
`which accesses the stored trip data, as well as the road
`device 12. Each option represents a different manner of
`map data in memory 13, and proceeds to calculate a
`off route navigation recovery which is now selectable
`desired navigation route between the present vehicle
`by the vehicle operator. Prior systems failed to visually
`position and the desired destination location. Many
`advise the operator of what recovery options were
`prior vehicle navigation systems implement such a func
`55
`available and failed to provide the operator with the
`tion and therefore details of this step will not be recited
`recovery flexibility implemented by the present naviga
`herein except to state that this calculated navigation
`tion apparatus 10. The operation of the navigation appa
`route will use fixed roadway paths which are defined by
`ratus 10 and the manner in which it implements the
`the roadway information which is stored in the memory
`visual display 20 and provides for operator selectable
`13.
`off route recovery options will now be described in
`After the process block 39, a process block 40 then
`proceeds to provide route guidance instructions to the
`detail in connection with the flowcharts shown in
`vehicle operator while also monitoring current vehicle
`FIGS. 3A-3C.
`location. Substantially all prior vehicle navigation sys
`FIGS. 3A-3C illustrate a flowchart 30 which imple
`ments major functional operations of the navigation
`tems also implement this process step. The route guid
`65
`apparatus 10 shown in FIG.1. The steps shown in flow
`ance instructions provided by block 40 comprise at least
`chart 30 are primarily the result of apparatus control
`audible vehicle maneuver instructions to be imple
`implemented by the navigation computer 11. The flow
`mented at various intersections along the route. These
`
`35
`
`Hyundai Exhibit 1006, Page 8 of 14
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`15
`
`5,243,528
`7
`8
`instructions are sequentially provided as the vehicle
`ated from the calculated route. This corresponds to
`approaches each intersection at which a maneuver is to
`location 25 in FIG. 2.
`be implemented. In addition, many systems, including
`In response to a determination of an off route condi
`apparatus 10, also provide visual guidance, in addition
`tion by the decision block 42, the block 43 produces the
`visual display 20 in FIG. 2. As previously noted this
`to the audible instructions, to assist the vehicle operator
`display includes a visual display 22 of a portion of the
`in implementing complex vehicle maneuvers. Such
`desired navigation route along with the arrowhead 23
`complex maneuvers may be encountered at road inter
`indicating the desired direction of travel for the naviga
`sections involving more than two streets or turn-about
`tion route display 22. Also, various road paths 27 within
`type road intersections. During the implementation of
`the vicinity of the point 25 at which a deviation from
`the route guidance functions by the process block 40,
`10
`the desired navigation route occurred are illustrated
`the vehicle location is monitored since this is essential to
`along with a display 24 of the path of actual vehicle
`ensure that the correct vehicle maneuver instructions
`travel and an arrowhead display 26 of current vehicle
`are provided as the vehicle approaches the appropriate
`position and the direction of actual vehicle travel.
`road intersections. The vehicle location monitoring can
`A major feature of the apparatus 10 is that the naviga
`occur either by dead reckoning and/or other vehicle
`tion route display 22 and its arrowhead 23 are shown in
`position sensors, such as GPS receivers.
`a different color than the actual vehicle travel portion
`During the route guidance and vehicle monitoring
`24 and its vehicle position and direction arrowhead 26.
`location process implemented by block 40, control peri
`This assists the vehicle operator in rapidly determining
`odically passes through the terminal 41 to the decision
`what has gone wrong that resulted in the off route con
`20
`block 42 which inquires if the vehicle is "off route".
`dition, as well as how the vehicle operator can navigate
`Such an off route determination is made by comparing
`the vehicle so as to resume the calculated navigation
`the present vehicle location and travel heading direc
`route. It is obviously critical to provide information to
`tion with the desired navigation route calculated by the
`the vehicle operator with as little distraction as possible
`navigation computer 11. In essence, if the vehicle posi
`since the operator is busy driving the vehicle. Providing
`25
`tion is found not to be on the road segments which
`displays in difference colors, including preferably red
`comprise the desired navigation route, then an off route
`for the erroneous actual vehicle travel and preferably
`indication is provided. If it is determined that the vehi
`blue or green for the desired navigation path, assists in
`cle is still on route, then control returns to the perfor
`conveying information to the vehicle operator in a mini
`mance route guidance and monitor vehicle location
`mal comprehension time format.
`30
`block 40. If the vehicle remains on course, this sequence
`Another feature of the visual display 20 provided by
`continues until the desired destination is achieved at
`the block 43 is that display portion 29 visually indicates
`which time all route guidance steps cease since the
`a table of operator selectable off route recovery options.
`desired destination has been arrived at. Of course, if
`Thus the vehicle driver now is visually made aware of
`multiple destinations have been specified, the route
`several recovery options which are available, and he
`guidance functions will continue until all destinations
`can now select the recovery option which best suits his
`have been arrived at.
`needs. These options will be discussed subsequently in
`If the decision block 42 determines that an off route
`connection with further steps of the flowchart 30.
`condition exists, then, in accordance with the apparatus
`It should be noted that preferably until an off route
`10, control passes to a process block 43 which imple
`condition is detected by the decision block 42, the color
`40
`ments providing an off route visual display such as the
`CRT display 16 does not show the off route display 20,
`display 20 shown in FIG. 2. The determination of an off
`but instead merely visually indicates desired road inter
`