# US 5,703,780 A · Navigation system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,703,780 A - Document ID: US5703780A - Status: Granted - Kind: A - Application number: 08/503,509 - Filed: 1995-07-18 - Granted: 1997-12-30 - Earliest claimed: 1995-01-20 - Assignees: Mitsubishi Denki Kabushiki Kaisha - Inventors: Naoko Takanabe; Ichiro Tanaka - Web page: https://patentgrep.com/patent/US5703780A ## CPC - G08G 1/096827: {where the route is computed onboard} - G01C 21/30: Map- or contour-matching - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A navigation system comprises a vehicle position detecting unit for determining the present position of a vehicle from the amount of change in vehicle bearing and a distance traveled by the vehicle, a forward road data storage unit for reading a road existing ahead of the present vehicle position from a map data storage unit based on the present vehicle position detected by the vehicle position detecting unit and storing it therein as data, a change-in-road detecting unit for detecting a change-in-road section in which the orientation of the road greatly varies, from the stored forward road data and judging whether the change-in-road section exists within a range in which a notification is required, and a notification unit for notifying the present vehicle position to a driver and notifying a change-in-road section in which the notification has been judged necessary, to the driver. ## Claims ### Claim 1 A navigation system mounted on a vehicle, comprising: operating means for inputting a departure position of the vehicle; means for detecting a present position of the vehicle from an amount of change in bearing of the vehicle and a distance traveled by the vehicle from the departure position; first storing means for storing map data about roads; second storing means for reading information from the map data of a road existing ahead of the present position of the vehicle detected by said vehicle position detecting means, converting said information to a string of shape sign data, and storing the result therein as forward road data in the form of shape sign data; means for detecting a change-in-road section in which a road orientation greatly varies, from the forward road data stored in said second storing means, by calculating curvatures at points on the road ahead from said forward road data to detect the change-in-road section and judging whether the change-in-road section exists within a range in which a notification is required; and notifying means for notifying the operator of the vehicle when the notification has been judged necessary by said change-in-road detecting means. ### Claim 2 (depends on 1) The navigation system as claimed in claim 1, wherein said operating means includes means for inputting a destination, said navigation system further including route searching means for searching an optimum route from the input departure position and destination and wherein said second storing means reads road data corresponding to the route searched by said route searching means from said first storing means, based on the present vehicle position detected by said vehicle position detecting means and the searched route and stores information representing a road existing ahead of the present position of the vehicle therein. ### Claim 3 (depends on 1) The navigation system as claimed in claim 1, wherein said change-in-road detecting means judges that the change-in-road section has been detected when one of the curvatures exceeds a predetermined threshold value. ### Claim 4 (depends on 1) The navigation system as claimed in claim 1, wherein said change-in-road detecting means determines a peak value of one of the curvatures, sets a threshold value according to the determined peak value and judges that the change-in-road section has been detected when said one curvature exceeds the predetermined threshold value. ### Claim 5 (depends on 1) The navigation system as claimed in claim 1, wherein said change-in-road detecting means includes means for calculating a radius of curvature using the maximum value of the curvatures relative to the detected change-in-road section. ### Claim 6 (depends on 1) The navigation system as claimed in claim 1, wherein said change-in-road detecting means includes means for calculating a radius of curvature using an average value of the curvatures relative to the detected change-in-road section. ### Claim 7 (depends on 1) The navigation system as claimed in claim 1, wherein said change-in-road detecting means sets three points P, Q and R arranged in order at regular intervals along the forward road data represented as the shape sign data string, calculates an angle formed by a vector PQ and a vector QR as one of the curvatures and determines the curvatures at the plurality of points by successively shifting the three points. ### Claim 8 (depends on 2) The navigation system as claimed in claim 2, wherein said change-in-road detecting means judges that the change-in-road section has been detected when one of the curvatures exceeds a predetermined threshold value. ### Claim 9 (depends on 2) The navigation system as claimed in claim 2, wherein said change-in-road detecting means determines a peak value of one of the curvatures, sets a threshold value according to the determined peak value and judges that the change-in-road section has been detected when said one curvature exceeds the predetermined threshold value. ### Claim 10 (depends on 2) The navigation system as claimed in claim 2, wherein said change-in-road detecting means includes means for calculating a radius of curvature using the maximum value of the curvatures relative to the detected change-in-road section. ### Claim 11 (depends on 2) The navigation system as claimed in claim 2, wherein said change-in-road detecting means includes means for calculating a radius of curvature using an average value of the curvatures relative to the detected change-in-road section. ### Claim 12 (depends on 2) The navigation system as claimed in claim 2, wherein said change-in-road detecting means sets three points P, Q and R arranged in order at regular intervals along the forward road data represented as the shape sign data string, calculates an angle formed by a vector PQ and a vector QR as one of the curvatures and determines the curvatures at the plurality of points by successively shifting the three points. ### Claim 13 (depends on 1) The navigation system as claimed in claim 1, further comprising a speedometer for measuring the vehicle speed and outputting said speed to said means for detecting, wherein said means for detecting analyzes the vehicle speed when judging whether said notification is necessary. ### Claim 14 (depends on 1) The navigation system according to claim 1, wherein said shape sign data comprises a string of codes, each of said codes defining a two-dimensional change in position based upon a scalar value for each dimension, said scalar value being one of a positive unit-length, a negative unit-length, and zero.