Patent ID: 8706403

Claim:
A method of detecting, by a navigation system, a bifurcation in a navigable feature, the method comprising: first determining, by the navigation system, a first possible segment (PS 1 ) and a second possible segment (PS 2 ) of the navigable feature (NV), on which a navigation device is located, based on location measurements along the navigable feature (NV), the location measurements representing a heading vector (V heading ) pointing to an estimated direction in which the navigation device is travelling, and the location measurements having a higher probability of being on the first possible segment than on the second possible segment; second determining, by the navigation system, an angle (θ) based on the heading vector (V heading ) and a vector (V h-s ) between the second possible segment (PS 2 ) and one of the location measurements; and detecting, by the navigation system, a bifurcation based on the angle (θ).