PAN-DRIVE: A Vehicle Navigation And Route Guidance System

Abstract

PAN-DRIVE is a vehicle navigation and route guidance system. Vehicle position estimation is autonomous and based on deadreckoning and map-matching techniques. A routing algorithm generates an itinerary between two map locations by emulating the map topology with a graph and then using advanced techniques to generate the itinerary on the graph. A vehicle guidance algorithm provides the driver with all the necessary audio and visual instructions to follow the route suggested by the routing algorithm. The paper focuses on a general presentation of the PAN-DRIVE system with specific emphasis on critical design decisions, related to the basic system functionalities: navigation, routing and route guidance. PAN-DRIVE is a vehicle navigation and route guidance system based on dead reckoning and map matching techniques. The system incorporates both standard and advanced features. The basic features include the necessary operations, such as navigation and routing, that guide the driver to any indicated destination using audio and visual insauctions and taking into consideration possible constraints and diverse conditions that may exist. These operations are handled by on-board, microprocessor based, units that combine readings from the vehicle sensors and compare the estimated positions with a digital map. External aid has been incorporated by the use of fixed locaticri beacons :hat serve primarily for system initialization. Advanced features include infonnation and guidance to the closest service or emergency location, such as hospitals, pharmacies, police stations, petrol stations and others, as well as tourist and entertainment information. 2. THE COMPONENTS OF THE SYSTEM The PAN-DRIVE system is a real time embedded system. The heart of the hardware is based on an Intel 80286 microprocessor running at l6MHz. The hardware component also includes four sensors, a radio receiver, a speech unit and a user terminal. The software component includes several algorithms, namely, position estimation, routing and guidance, a database management system, a user interface and communication protocols. A pictorial block diagram of PAN-DRIVE is shown in Figure 1.