United States Patent (19)
`Nimura et al.
`
`:
`
`USOO5757289A
`Patent Number:
`11
`45 Date of Patent:
`
`5,757,289
`May 26, 1998
`
`54 VEHICULAR NAVIGATION SYSTEM
`75 Inventors: Mitsuhiro Nimura, Okazaki; Akimasa
`Nanba, Chiryu; Kazuteru Maekawa,
`Nishikamo-gun, all of Japan
`73) Assignee: Aisin Aw Co., Ltd., Japan
`
`Appl. No.: 466,193
`21
`22
`Filed:
`Jun. 6, 1995
`Foreign Application Priority Data
`30
`Sep. 14, 1994
`Japan .................................. 6-247.293
`JP
`JP
`Oct. 3, 1994
`Japan .................................... 6-264584
`(51] Int. Cl. ...........................
`.............. G08G 1/123
`52 U.S. Cl. ....................... 340/995; 340/990;364/449.3;
`364/449.4
`58 Field of Search ..................................... 340/995, 990,
`340/988: 364/449.3, 444, 449.2, 449.4,
`449.5; 73/178 R
`
`56
`
`5,043,902
`
`References Cited
`U.S. PATENT DOCUMENTS
`8/199 Yokoyama et al. ..................... 340/995
`
`340/995
`5,184,303 2/1993 Link ..........
`... 340/995
`5.243,528 9/1993 Lefebvre .......
`5,262,775 11/1993 Tamai et al. ............................ 340/995
`Primary Examiner-Brent A. Swarthout
`Attorney, Agent, or Firm-Lorusso & Loud
`57
`ABSTRACT
`A vehicular navigation system includes a central control unit
`which determines when a present position deviates from a
`searched route along which guidance is being provided from
`a starting point to a destination and determines whether or
`not the detected deviating present position is on a guidable
`road prior to re-searching the route and providing guidance
`based upon the re-searched route. A guidable road is a road
`upon which the navigation system contains sufficient map
`information and guide information for the navigation system
`to search a route and provide guidance. Additionally, system
`determines whether the vehicle has traveled a predetermined
`distance after re-search of the route prior to providing travel
`guidance based upon the re-searched route. Otherwise travel
`guidance continues to be provided based upon the previ
`ously searched route. A driver, after making a short
`deviation, may thus return to the previous route without
`travel guidance being interrupted by a re-searched route.
`3 Claims, 20 Drawing Sheets
`
`2
`
`PRESENT POSITION
`DETECTENG SECTION
`
`INPUT /OUTPUT
`SECTION
`NPU
`PORON
`
`SPLAY
`PORTION
`
`WOCE
`OUTPUT
`PORTION
`
`
`
`
`
`
`
`4
`
`CENTRAL CONTROL
`SECON
`
`ROTE CAUANG
`PORTON
`
`ROUE STORAGE
`PORTION
`
`ROUTE GUDANCE
`CONTROL PORTION
`REANING SANCE
`CACULATING FORON
`FOR DISPLAYING
`PRESENT PACE
`MARKER
`DISPLAY CONTRO
`PORTION
`
`
`
`WOCE CONTROL
`PORON
`
`WOICE DATA
`STORAGE PORTION
`
`3
`
`NFORMATION
`SORAGE SECON
`
`MAP DAA
`NTERSECTION DAA
`NODE DATA
`ROAD DAA
`POOGRAPC ATA
`DESNATON DAA
`GUDE PON DATA
`DEAED DESENAON DAA
`DESTNAON READG A
`OHER DATA
`
`Hyundai Exhibit 1015, Page 1 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 1 of 20
`
`5,757,289
`
`NFORMATION
`STORAGE SECTION
`
`MAP DAA
`INTERSECTION DATA
`NODE DATA
`ROAD DATA
`PHOTOGRAPHC DAA
`DESTINATION DATA
`GUIDE POINT OATA
`OETAED DESTNAON DAA
`DESTINATION READ:NG UAA
`OTHER DATA
`
`2
`
`PRESENT POSITON
`DETECTING SECTION
`
`INPUT/OUTPUT
`SECTION
`NPUT
`PORON
`
`DSPLAY
`PORTION
`
`VOICE
`OUTPUT
`PORON
`
`
`
`
`
`
`
`
`
`CENTRA CONTROL
`SECTION
`
`ROSE CALCANG
`PORTION
`
`ROUTE STORAGE
`PORTION
`
`ROUTE GUIDANCE
`CONTROL PORTION
`RENANNG D STANCE
`CALCULATING PORTION
`FOR DISPLAYING
`PRESENT PLACE
`MARKER
`OSPLAY CONTROL
`PORTON
`
`VOICE CONTROL
`PORTION
`
`VOICE DATA
`STORAGE PORTION
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`Fig.
`
`Hyundai Exhibit 1015, Page 2 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`Hyundai Exhibit 1015, Page 3 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 3 of 20
`
`5,757,289
`
`Fig.3
`
`
`
`ROAD WIDTH OF 52
`
`ROAD WIDTH OF 5.
`
`Hyundai Exhibit 1015, Page 4 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 4 of 20
`
`5,757,289
`
`Fig.5
`
`GUIDE ROAD
`65 66
`
`DESTINATION
`O
`
`SARTING POINT
`
`Fig.6
`
`GUIDE ROAD STRING DATA
`NO, OF GUIDE ROADS
`
`
`
`62
`
`63
`67
`
`7
`
`74
`
`75
`76
`
`Hyundai Exhibit 1015, Page 5 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet S of 20
`
`5,757,289
`
`Fig. 7
`
`SHAPE DATA (b)
`NO. OF NODE (m)
`
`NORTH LATTUDE
`
`
`
`
`
`DATA STRUCTURE
`GUIDE ROAD DATA (a)
`NO OF ROADS (n)
`ROAD NO.
`
`
`
`
`
`
`
`1 ROAD ATTRIBUTE DATA
`SHAPE DATA ADDRESS & SZE
`GUIDE DATA ADDRESS & SIZE
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`NTERSECTION NAME
`ATTENTON DATA
`ROAD NAME
`ROAD NAME WOCE DATA ADDRESS & SZE
`DESTNATON DATA ADDRESS & SZE
`
`DESTINATION DATA (d)
`NO. OF DESTINATIONS (k)
`DESTINATION ROAD NO.
`DESNAON NAME
`DESTINATION NAME VOICE DATA ADDRESS & SZE
`DESTINATION DIRECT ON DATA
`RUN GUDE DATA
`
`
`
`
`
`
`
`
`
`1 :
`O :
`1 :
`2 :
`3 :
`4 :
`5 :
`6 :
`7 :
`
`NVALO
`UNNECESSARY
`STRA GHT
`TO THE RIGHT
`OBLOUELY TO THE RIGHT
`RETURN TO THE RIGHT
`TO THE LEFT
`OBLOUELY TO THE LEFT
`RETURN TO THE LEFT
`
`Hyundai Exhibit 1015, Page 6 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 6 of 20
`
`5,757,289
`
`Fig. 8
`ROAD ATTRIBUTE DATA
`
`EXISTENCE INFORMATION
`
`YES: O
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`OVERHEAD/
`UNDERGROUND
`ROAD DATA
`
`NO OF LANES
`
`OWERHEAD ROAD
`SDE OF OVERHEAD ROAD
`UNDERGROUND ROAD
`
`SIDE OF UNDERGROUND ROAD
`MORE THAN THREE
`
`NO CENTER LINE
`
`
`
`O
`
`o
`
`Fig. 9
`ROAD NAME DATA
`
`
`
`ROAD KIND
`
`KND NO.
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`GENERAL
`ROADS
`
`1
`
`EXPRESS
`WAYS
`URBAN
`EXPRESS
`WAYS
`
`MAN
`LANES
`TRANSFER
`RAMPS
`MAIN
`is
`RANSFER
`RS' 4
`s
`5
`TOLL ROADSNSER
`RAMPS
`
`NATIONAL ROADS
`PREFECTURAL ROADS
`OTHERS
`
`s
`9
`
`Hyundai Exhibit 1015, Page 7 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 7 of 20
`
`5,757,289
`
`Fig.10
`
`ATTENTON DATA
`casing
`TUNE ENTRANCE
`TUNE EXIT
`IDTH REDUCING POINT
`No
`
`
`
`o
`
`
`
`Fig.11
`
`
`
`RUN GUIDE DATA
`closer to THE RIGHT
`closer to THE LEFT
`costR THE CENTER
`
`
`
`o
`F
`
`Hyundai Exhibit 1015, Page 8 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 8 of 20
`
`5,757,289
`
`Fig. 12
`GUIDING INTERSECTION DATA(O
`NO, OF INTERSECTIONS (n
`COORDINATE OF EAST LONGITUDE
`C
`
`
`
`
`
`
`
`
`
`
`
`
`
`Fig. 13
`LANDMARK DATA
`
`INTERSECTION LANDMARK DATA(b)
`NO. OF LANDMARKS (m)
`LONGADE OF LAND"WRK CENER
`AUDE OF LAND'ARK CENER
`LANDMARK DATA
`
`DATA
`Pedestrion Bridge and e)
`Indicote Angle of Intersection
`
`Hyundai Exhibit 1015, Page 9 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 9 of 20
`
`5,757,289
`
`Fig.14
`
`
`
`D
`
`N
`
`Hyundai Exhibit 1015, Page 10 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 10 of 20
`
`5,757,289
`
`Fig. 15
`ACQUIRE REMAINING DISTANCE (C) TO BE DISPLAYED
`
`
`
`
`
`
`
`PRESENT
`POSITION MARKER
`ADVANCED AND
`DISPLAYED
`
`
`
`S2
`
`REMAINING DISTANCE TO
`BE DISPLAYED C=B-A
`
`REMAINING DSTANCE TO
`BE DISPLAYED C=B
`
`Fig. 16
`ACQUIRE WIDTH (A) OF INTERSECTING ROADS
`
`
`
`
`
`
`
`S10
`
`S11
`
`ACQUIRE ATTRIBUTE DATA OF
`GUIDANCE-NEEDED ROAD
`
`
`
`CALCULATE WIDTH (A) FROM
`LANE NO. OF ROAD
`ATRIBUTE DATA
`
`Hyundai Exhibit 1015, Page 11 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`Sheet 11 of 20
`
`May 26, 1998
`
`U.S. Patent
`Fig. 17
`ACQUIRE DISTANCE (B)
`FROM PRESENT POSITION TO
`HE INTERSECTION
`CP
`
`5,757,289
`
`ACOURE G DE DATA
`S20 OF PREsNPLCE
`
`S21
`
`ACOURE DISTANCE (B)
`FROM PRESENT PLACE TO
`TERMINAL OF PRESENT
`GUIDE ROAD
`
`
`
`
`
`NEXT GUID
`ROAD?
`
`S24
`
`ACOURE NEX GUIDE
`ROAD NO.
`
`S25
`
`ACOURE DESTINATION DATA OF
`PERTNENT ROAD FROM
`DESTNATON DATA
`
`
`
`
`
`S26
`
`GUIDANCE
`UNNECESSARY
`
`
`
`
`
`ACOURE NECESSARY
`GUIDE ROAD NO.
`
`
`
`YES
`
`S28
`
`ACOURE DISTANCE (B)
`OF NEXT GUIDE ROAD
`
`S29
`
`Hyundai Exhibit 1015, Page 12 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`May 26, 1998
`
`Sheet 12 of 20
`
`5,757,289
`
`U.S. Patent
`Fig. 18
`
`EN
`SECTION
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`PRESENT POSION
`DETECTING SECTION
`
`
`
`CENTRAL CONTROL
`SECTION
`
`
`
`
`
`PRESENT POSTION
`DETECTING PORTION
`
`AZMUTH DETECTING
`PORTON
`
`
`
`
`ROUTE SEARCH
`PORTION
`
`ROUTE DEMATION
`DETECTING PORTION
`
`INPUT/OUTPUT
`SECTION
`
`INPUT PORTION
`
`DESTINATION INPUT
`PORTION
`
`OUTPUT PORTION
`
`GUIDE PORTION
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`GUIDE ROAD
`PROPRIETARY
`DECIDING PORTION
`
`
`
`ROUTE GUIDANCE
`PORTION
`
`RE-SEARCH
`PORTION
`
`ROUTESTORAGE
`
`PREDETERMINED
`DISTANCE SETTING
`PORTION
`
`PREDETERMINED
`DISTANCE RUN
`DETECTING PORTION
`
`PREVIOUS ROUTE
`DETECTING PORTION
`
`Hyundai Exhibit 1015, Page 13 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 13 of 20
`
`5,757,289
`
`Fig.19
`
`1 O3
`
`CORRECT
`
`Fig.20
`
`
`
`104
`
`105
`
`1 O3
`
`CORRECT
`
`106
`
`104
`
`105
`
`Hyundai Exhibit 1015, Page 14 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 14 of 20
`
`5,757,289
`
`Fig.21
`
`
`
`
`
`Fig.22
`
`O On
`
`PRESENT POST ON AT ROUTE SEARCH END
`
`ROUTE SEARCH RESULT
`
`MOYE DURING ROUTE SEARCH
`
`4-
`
`PRESENT POST ON AT ROUTE SEARCH START
`
`Hyundai Exhibit 1015, Page 15 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 15 of 20
`
`5,757,289
`
`Fig.23
`
`SE ROUTE
`
`1 O
`
`
`
`Fig.24
`
`
`
`Old
`
`Olo, IOlc - GUIDABLE ROADS
`Iolb, IOld- UNGUIDABLE ROADS
`Ole - BLIND ROAD
`Of - PLACE OTHER THAN ROADS
`
`GUIDANCE
`START
`
`108
`
`105
`
`Hyundai Exhibit 1015, Page 16 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 16 of 20
`
`5,757,289
`
`Fig.25 a
`
`ROUTE RE-SEARCHING
`
`Fig.25 b
`
`FAILURE IN SEARCH
`
`ROUTE CAN'T BE SEARCHED
`
`ROUS BEFORE SEARCH WILL BE DISPLAYED
`
`
`
`DISPLAY OF PREVIOUS ROUTE
`
`OUT
`GUIDANCE
`
`104
`
`105
`
`Hyundai Exhibit 1015, Page 17 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 17 of 20
`
`5,757,289
`
`Fig.26 a
`
`Fig.26 b
`
`
`
`Fig.26 e
`
`RESET SART autonce
`
`ide
`
`1 O7
`
`Hyundai Exhibit 1015, Page 18 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 18 of 20
`
`5,757,289
`
`Fig.27
`
`S1 O1
`
`ACOURE PRESENT
`POSITION
`(STARTNG PLACE)
`
`S102
`
`SE DESTINATION
`
`S103
`
`SEARCH ROUTE
`
`so SET PREDEERMINED
`
`MODE-2
`
`DSTANCE
`
`S105 TRACE PRESENT POST ON
`
`
`
`
`
`NO
`
`DESTNATON
`REACHED)
`
`S 09
`
`YES
`
`Hyundai Exhibit 1015, Page 19 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 19 of 20
`
`5,757,289
`
`MODE-2?
`AND RUN
`PREDETERMINED
`DSTANCE
`
`PROCESS OFF-ROUTE
`
`ON
`GUIDED ROAD
`
`
`
`S110
`
`S112
`
`
`
`
`
`S113
`
`
`
`RE-SEARCH ROUTE
`
`
`
`S114
`
`S1140
`
`S115
`
`ROUTE
`OUTPUT OK
`
`ERASE PREVIOUS
`ROUTE
`
`MODE=2
`SET PREDETERMINED
`DSTANCE
`
`
`
`
`
`FiO. 28
`19.
`
`MODE =0:ON ROUTE
`MODE =1:RUN OTHER THAN GUIDE ROAD
`(RE-SEARCH ON GUIDE ROAD)
`MODE =2:END OF SEARCH
`MODE =3:FAILURE OF SEARCH
`
`Hyundai Exhibit 1015, Page 20 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`U.S. Patent
`
`May 26, 1998
`
`Sheet 20 of 20
`
`5,757,289
`
`Fig.29
`
`
`
`PROCESS OFF-ROUTE
`
`S1 1 0 < ON GUIDED ROAD?
`
`YES
`
`
`
`
`
`S11 1 MODE = 1
`
`
`
`
`
`
`
`
`
`
`
`
`
`S13
`
`RE-SEARCH ROUTE
`
`
`
`ODE=2? AND
`RUN PREDEERMNED
`DISTANCE
`YES
`S118 ERASE PREVIOUS
`ROUTE
`
`s11 pistic
`
`DISPLAY RE-SEARCH
`
`S114<ROUTE OUTPUT OK?
`
`NO
`
`MODE-2
`S115 SET PREDETERMINED
`D STANCE
`
`
`
`
`
`=0: ON ROUTE
`MODE = 1: RUN OTHER THAN GUIDE ROAD
`(RE-SEARCH ON GUIDE ROAD )
`MODE =2: END OF SEARCH
`MODE =3: FAILURE OF SEARCH
`
`Hyundai Exhibit 1015, Page 21 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

`

`1.
`WEHICULAR NAVIGATION SYSTEM
`
`5,757.289
`
`2
`system contains sufficient map information and guide infor
`mation for the navigation system to search a route and
`provide guidance.
`According to another aspect of the present invention, a
`vehicular navigation system, upon detecting that a present
`position deviates from a searched route along which guid
`ance is being provided from a starting point to a destination,
`determines firstly whether the detected deviating present
`position is on a guidable road prior to re-searching the route
`and determines secondly whether the vehicle has traveled a
`predetermined distance after re-search of the route prior to
`providing travel guidance based upon the re-searched route.
`Otherwise travel guidance continues to be provided based
`upon the previously searched route. A driver, after making a
`short deviation, may thus return to the previous route
`without travel guidance being interrupted by a re-searched
`Oute.
`
`BRIEF DESCRIPTION OF THE DRAWINGS
`FIG. 1 is a block diagram showing a system construction
`of a vehicular navigation system according to the present
`invention;
`FIG. 2 is a diagram of a hardware construction of the
`vehicular navigation system;
`FIG. 3 is an explanatory diagram for calculating the
`remaining distance to be displayed;
`FIG. 4 is an explanatory diagram for explaining the
`remaining distance to be displayed, in case the remaining
`distances to a next intersection are made different by a turn
`to the left or right;
`FIG. 5 is an explanatory diagram of guide roads from a
`starting point to a destination;
`FIG. 6 is an explanatory diagram of guide road string
`data;
`FIG. 7 is an explanatory diagram of guide road data;
`FIG. 8 is an explanatory diagram of road attribute data;
`FIG. 9 is an explanatory diagram of road name data;
`FIG. 10 is an explanatory diagram of attention data;
`FIG. 11 is an explanatory diagram of run guide data;
`FIG. 12 is an explanatory diagram of guiding intersection
`data;
`FIG. 13 is an explanatory diagram of landmark data;
`FIG. 14 is an explanatory diagram showing one example
`of a route display screen;
`FIG. 15 is a flow chart for acquiring the remaining display
`distance;
`FIG. 16 is a flow chart for acquiring the width of an
`intersecting road;
`FIG. 17 is a flow chart for acquiring the distance from a
`present position to an intersection center;
`FIG. 18 is a block diagram showing a system construction
`of the vehicular navigation system according to the present
`invention;
`FIG. 19 is a diagram showing an example of the screen
`display of a section diagram;
`FIG. 20 is a diagram showing one example of the screen
`display of the section diagram at a route deviation time in a
`manual re-search mode;
`FIG. 21 is a diagram showing one example of the screen
`display of a section diagram at a route deviation time in an
`automatic re-search mode;
`FIG. 22 is an explanatory diagram of a processing pro
`cedure in case the route is missed by the movement after a
`Success in the route search;
`
`BACKGROUND OF THE INVENTION
`1. Field of the Invention
`The present invention relates to a vehicular navigation
`system for guiding travel along a route to a destination and
`more particularly, to a vehicular navigation system capable
`of automatically re-searching the route when a deviation
`from the route occurs.
`2. Related Art
`The prior art includes vehicular navigation systems for
`detecting a deviation of a vehicle from a route set by the
`driver and for performing a re-search of the route when the
`deviation is sensed to then provide route guidance according
`to the re-searched route. During travel along a route set by
`the navigation system, the vehicle driver may mistakenly
`deviate from the set route. In order to overcome this mistake,
`there is disclosed in Japanese Patent Laid-OpenNo. 173815/
`1989, for example, a technique in which the driver is
`instantly informed of the route deviation and in which a new
`route is re-searched on condition that the vehicle is stopped.
`In the aforementioned example of the prior art, the route
`is re-searched from the present position, at which the vehicle
`is stopped because of the route deviation, to the previously
`set destination. Generally vehicle navigation systems have
`limited capacity for data required to conduct route searches
`and perform guidance. In order for a vehicle navigation
`system to contain all data relating to parking lots and minor
`roads, an extraordinarily massive storage capacity for data
`would be necessary. In case the vehicle is stopped in a
`parking area or on a minor road which is not indicated on the
`navigation system map data, the search of the route from that
`stop point cannot be performed. Because of the limited data
`capacity, the re-search of the guidance route from the present
`position cannot be started before the vehicle is stopped on a
`road covered by the data. This obliges the driver to stop on
`a road covered by the navigation system map data. It may be
`unknown where such a road is located, especially in case the
`driver has lost his or her way. The driver may not know
`where he or she is, and may be bewildered by ignorance of
`whether or not any nearby road is covered by the navigation
`system map or ignorance of which direction a searchable
`road can be found. On the other hand, if the route search is
`made while the vehicle is on an unguidable road, it is started
`from a point on the guidable road which is closest to the
`present position. This obliges the driver to drive the vehicle
`to the searched route by himself or herself, and raises a
`problem that the driver may have to search for the searched
`route.
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`SUMMARY OF THE INVENTION
`An object of the present invention is to solve the above
`specified problems and to provide a vehicular navigation
`system capable of re-searching a guidance route with limited
`data without bewildering the driver.
`In order to achieve the aforementioned object, according
`to one aspect of the present invention, a vehicular navigation
`system, upon detecting that a present position deviates from
`a searched route along which guidance is being provided
`from a starting point to a destination, determines guide road
`propriety by deciding whether or not the detected deviating
`present position is on a guidable road prior to re-searching
`the route. If not, the previous guidance display remains;
`otherwise guidance is provided based upon the re-searched
`route. A guidable road is a road upon which the navigation
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`Hyundai Exhibit 1015, Page 22 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

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`5,757.289
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`5.
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`FIG. 23 is an explanatory diagram of the re-search at a
`route deviation time;
`FIG. 24 is a diagram showing one example of the screen
`display of a section diagram after the route re-search;
`FIGS.25a-25c present diagrams showing one example of
`screen transitions when the route search fails;
`FIGS. 26a-26epresent diagrams showing one example of
`screen transitions of the automatic route re-search in case the
`vehicle goes from a guidable road through an unguidable
`road to a guidable road;
`FIG. 27 is a flow chart showing the routine of the entire
`system;
`FIG. 28 is a flow chart showing a route deviation pro
`cessing routine: and
`FIG. 29 is a flow chart showing the route deviation
`processing routine with the previous route being displayed.
`DESCRIPTION OF THE PREFERRED
`EMBODIMENT
`In the following, an embodiment of the present invention
`is described with reference to the accompanying drawings.
`In FIG. 2, the navigation system is constructed to include
`an input/output section 1 for inputting/outputting route guid
`ance information, a present position detecting section 2 for
`detecting information on the present position of the vehicle,
`an information storage section 3 containing stored or
`recorded navigation data necessary for calculating a route
`and guide data necessary for the route guidance, and a
`central control section 4 for controlling the entire system, for
`searching or calculating a route and for generating display
`and/or voice guidance signals necessary for route guidance.
`The input/output section 1 enables a user to receive and
`provide information or instructions to the central control
`section 4 for vehicle navigation such as information neces
`sary for setting route guidance points such as a starting
`point, a destination point or a transit point, and to output
`processed data or data for data communications for printing.
`To enable user input, the input section is constructed of a
`touch or screen panel 11 superposed over a display 12 for
`inputting an address, a telephone number or coordinates to
`set the destination and for requesting route guidance. The
`output section has (1) a display 12 for displaying data on a
`screen, input options for the driver or route guidance infor
`mation automatically on the screen, (2) a printer 13 for
`printing data processed by the central control section 4, data
`stored in the information storage section 3, or communica
`tion data, and (3) a speaker 14 for outputting audio route
`guidance.
`The display 12 is a color CRT or a color liquid crystal
`display and displays not only all the screens necessary for
`the navigation such as a destination setting screen, a section
`diagram screen or an intersection diagram screen, as based
`upon the map data or guide data processed by the central
`control section 4, but also displays keys used with the touch
`panel 11 for setting route guidance, for directing the progress
`of the route guidance, and for switching screens. A user by
`touching the touch panel 11 over a displayed function key
`inputs signals to the navigation system corresponding to the
`displayed function key so that the specified operation or
`function is executed.
`The present position detecting section 2 is constructed of
`a GPS receiver 21 utilizing the global positioning system
`(GPS), a beacon receiver 22, a data transmitter-receiver 23
`which for example can receive a correction signal of the
`GPS by using a cellular phone or a FM multiplex signal, an
`
`4
`absolute azimuth sensor 24 made of for example an earth
`magnetism sensor, a relative azimuth sensor is made of for
`example a wheel sensor or a steering sensor, and a distance
`sensor 26 for detecting the distance traveled such as from the
`number of revolutions of the wheels.
`The information storage section 3 is a database with all
`the data files containing data necessary for the route search
`ing and guidance such as map data, intersection data, node
`data, road data, photographic data, destination data, guide
`point data, detailed destination data or destination reading
`data, and remaining data such as the display guide data or the
`voice guide data.
`The central control section 4 is constructed of a CPU 40
`for executing arithmetic operations, a first ROM 41 con
`taining a program for processing the route search, a program
`for the display control necessary for the route guidance and
`for voice output control necessary for the voice guidance,
`and data necessary for the programs, a RAM 42 for tempo
`rarily storing instructions such as route guidance and search
`information and other data being processed, a second ROM
`43 containing display data necessary for route guidance and
`map display, a picture memory 44 containing picture data to
`be used for displaying screens, a picture processor 45 for
`fetching the picture data from the picture memory on the
`basis of display control signals coming from the CPU and
`for processing the picture data to output the processed data
`to the display, a voice processor 46 for synthesizing the
`voice data e.g., a phrase, a sentence or a sound read out of
`the information storage section 3 on the basis of the voice
`output control command from the CPU, and for transform
`ing the synthesized data into analog signals to output the
`signals to the speaker, a communication interface 47 for
`arbitrating and controlling the transfer of data to and from
`sections 1,2,3 and 4, a sensor input interface 48 for fetching
`various sensor signals of the present position detecting
`section 2, and a clock 49 for writing the date and time in
`internal diagnostic information. The screen display and/or
`the voice output can be selected for guiding the driver along
`a route.
`The present system determines the present position by
`calculating an estimated position on the basis of the various
`sensor signals and GPS data coming from the present
`position detecting section and by deciding the present road
`upon which the vehicle is traveling and its position on the
`road by correlation between the estimated position and data
`of the road on the map. In addition, the present system
`decides whether or not the present position, which is con
`tinuously updated, is approaching a guide point determined
`in advance with respect to its guidance route. Specifically,
`the present system automatically outputs voice announce
`ments of intersections of the guide route at predetermined
`distances before and during passage through the intersection
`and to display intersection information such as the name of
`an approaching intersection. On the basis of this decision
`result, the picture processor and the voice processor are
`instructed to guide. In response to an input request signal,
`the voice processor is instructed to guide travel by voice.
`As shown in FIG. 1, the central control section 4 includes
`a route calculating portion for determining the present
`position and the destination and for calculating the route
`between the present position and the destination. The present
`position of the vehicle is determined by the operation of the
`CPU on the basis of the GPS information received through
`the communications interface, map information or data from
`the information storage section, and information fetched
`through the sensor input interface from the sensors mounted
`on the vehicle. The destination of the route is determined
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`Hyundai Exhibit 1015, Page 23 of 29
`Hyundai Motor Company v. Mel Navip LLC
`IPR2024-00173
`
`

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`5,757,289
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`5
`from information input by the user through the input/output
`section and destination data from the information storage
`section. Calculation of the route between the starting point
`or present position and the destination is based upon map,
`intersection, node and road data read out of the information
`storage section as well as information coming from the
`present position detecting section. Aroute storage portion of
`the central control section temporarily stores route informa
`tion calculated by the route calculation portion. A route
`guidance control portion executes voice guidance and/or
`display guidance automatically or in response to a request
`signal on the basis of the guide information stored in the
`information storage section, the present position information
`and the route information stored in the route storage portion.
`A voice control portion controls voice guidance. A display
`control portion controls the display on the display screen and
`the display guidance.
`The route guidance control portion has a remaining dis
`tance calculating portion for displaying the distance of the
`present position or place marker from a guide point such as
`an intersection. Guide data, based on the present position
`detecting information coming from the present position
`detecting section and the route information stored in the
`route storage portion, is fetched from the information stor
`age section to calculate the remaining distance display of the
`present position marker. Especially the display of the dis
`tance to an approaching intersection when the present posi
`tion is within 300 m is controlled by the remaining distance
`display as determined by the following calculation:
`C-B-A.
`In FIG. 3, A is the width of an intersecting road, B is the
`distance to the center of the intersection from the present
`position, and C is the remaining distance to be displayed.
`The display control portion controls the display of the
`present position marker on the basis of the calculated
`remaining distance.
`In case a vehicle turns at an intersection 51 to proceed to
`an intersection 52 at which the vehicle then turns to the right,
`as shown in FIG. 4, the distance to be covered differs for
`directions (a) and (b) entering the intersection 51. In the
`internal processing procedure, therefore, the covered dis
`tance between the intersections is measured by discriminat
`ing "before" and "after” the intersection from the turning
`peak point (as indicated by "O"). In FIG. 4, the remaining
`distance to be displayed is calculated by the following
`equation when the intersection distance between the inter
`sections 51 and 52 is the internode (as indicated by "O")
`distance:
`
`Case(b):
`Remaining Display Distance = (Section Distance - Road Width
`
`at Intersection 52) - Covered Distance between
`
`and
`Case(a):
`Remaining Display Distance = (Section Distance - Road Width
`
`Intersections 51 and 52;
`
`at Intersection 52 - Road Width at Intersection 51) - Covered Distance
`between Intersections 51 and 52.
`The voice control portion synthesizes the voice data read
`out in response to the voice guide instruction and transforms
`the synthesized voice data into analog signals to output the
`analog signals from the voice output portion. The voice data
`storage portion contains voice guide data such as the opera
`tion guide data at the route setting time, the voice guide data
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`6
`of the destination or target name on the route, or the guide
`voice data necessary for voice guidance during the route
`guidance. When the display of the entire route diagram is
`instructed, the voice control portion reads the voice data of
`the target name, which is displayed in the entire route
`displaying screen, out of the voice data storage portion and
`transforms the voice data into analog signals to output the
`analog signals in the guide voice from the voice output
`portion.
`The data structure of the route guidance can be described
`by first referring to FIG. 5 which shows the guide road from
`the starting point to the destination. The road to be covered
`at first from the starting point is designated at “61'. Points
`to be passed are designated by numerals subsequent to the
`road number, and all the roads joining the points such as the
`branching or function points or the intersections are desig
`nated by numerals. In the shown example, the roads leading
`from a road “62” are designated at "63" and "64", and roads
`“65". "66" and "67" lead from an intersection terminating
`the road "63". Moreover, roads "67" and "70" join at a
`junction leading to a road "71". This road "71" and a road
`"73” join together and lead to a road "74". The route leads
`to the destination through the roads "74", "75" and "76". In
`case the roads illustrated by thick lines are adopted as the
`guide route, for example, the route is composed of the eight
`guide roads having string data as shown in FIG. 6.
`The data structure of each of the roads composing the
`guide road, as stored in the information storage section 3, is
`illustrated in FIG. 7. The guide road data (a) are defined for
`each road by the road number, the length, the road attribute
`data, the shape data address and size, and the guide data
`address and size. The shape data (b) express the shape of the
`road under consideration with the number of nodes, each of
`which is defined by coordinates of east longitude and north
`latitude, for example; If the angle of intersection of inter
`secting roads is used as the information of a road to be next
`followed in the calculation of the remaining display distance
`to the guide intersection, the shape data are given the data on
`the angle at which the road to be next followed intersects the
`road being followed. On the other hand, the guide data (c)
`are defined by the intersection name, the attention data, the
`road name, the road name voice data address and site, and
`the destination data address and size. The destination data
`(d) are defined by the destination road number, the destina
`tion name, the destination name voice address and size, the
`destination direction data and the run guide data. The
`destination direction data (e) are defined as messages of
`"INVALID”, “UNNECESSARY", "STRAIGHT”, “TO
`THE RIGHT”, “OBLIQUELY TO THE RIGHT".
`“RETURN TO THE RIGHT”, “TO THE LEFT".
`“OBLIQUELY TO THE LEFT" and "RETURN TO THE
`LEFT".
`The road attribute data are those expressing physical
`characteristics such as overhead road, underground road or
`number of lanes, as shown in FIG.