KR19990055652A - Vehicle position error correction device and control method - Google Patents

Abstract

The present invention relates to a vehicle position error correction apparatus and a control method thereof, and in particular, a GPS receiver 100 for receiving a GPS signal; A CD-ROM 200 in which map data is stored; A vehicle speed sensor input unit 300 for outputting vehicle speed data; Input the GPS signal to set the initial position (X _i , Y _i ) of the vehicle, after a predetermined time (t), the position of the vehicle (X _G , Y _G ), the moving distance (D _G ) of the vehicle, Calculates the progress range of the vehicle (Q _A ) and the GPS signal movement angle (Q _G ), calculates the moving distance (D _S ) of the vehicle through the speed data of the vehicle, and if the vehicle position error of the GPS occurs A CPU 400 for correcting the position; A screen output unit 500 for outputting a display signal after image processing; An LCD display panel 600 which displays a current position of the vehicle matched with the map data; It includes a voice output unit 700 for outputting the route guidance and warning sounds of the vehicle as a voice that can be heard by the user, and the present invention has an error occurs in the current position of the vehicle calculated through the GPS signal If the error occurs, the vehicle is equipped with a vehicle navigation system by correcting the current position of the vehicle in consideration of the speed data and the driving direction of the vehicle input through the vehicle speed sensor input unit, for example, If you are operating in, even if you can not receive all GPS signals from four GPS satellites due to many buildings or buildings, it is possible to accurately display the current position of the vehicle.

Description

Vehicle position error correction device and control method

The present invention relates to a vehicle navigation apparatus, and in particular, when an error occurs by determining whether an error has occurred in a current position of a vehicle calculated through a Global Positioning System (GPS) signal. The present invention relates to a vehicle position error correcting apparatus and a control method thereof, which allow the current position of a vehicle to be corrected in consideration of the speed data and the moving direction of the vehicle input through the vehicle speed sensor input unit.

As is well known, GPS orbits the earth twice a day at an altitude of 20,183 km, and a total of 18 GPS satellites on each of six orbits transmit coordinate signals for the current position and signals for the time when the coordinate signals are transmitted. Dogs (24 including total satellites for each orbit) are arranged at equal intervals, and the GPS receiver can be used to detect and process the position of the GPS receiver by receiving and processing signals transmitted from the GPS satellites. The device is a device that detects the position of a person by detecting a signal transmitted from three or more GPS satellites by using a GPS receiver comprising a GPS antenna and a GPS receiver circuit. GPS satellite signal required).

In order to determine the current position of a vehicle, a conventional GPS navigation device must receive a GPS signal from all four GPS satellites and then calculate the location of the vehicle. In the case of driving in the inside, because of the many buildings or buildings can not receive all the GPS signals from the four GPS satellites, there was a problem that a significant vehicle position error occurs.

Therefore, conventionally, in order to solve the above problems, a method of map matching has been implemented and implemented in a vehicle navigation apparatus. The map matching method consumes a high cost, so that the manufacturing cost of implementing the vehicle navigation apparatus is realized. There was an issue rising.

The present invention is to solve the above conventional problems, the central control unit (Central Process Unit; hereinafter referred to as CPU) determines whether the error occurs in the current position of the vehicle calculated by the GPS signal error is In the event of occurrence, the present invention provides a vehicle position error correction device and a control method thereof to correct the current position of the vehicle in consideration of the speed data and the moving direction of the vehicle input through the vehicle speed sensor input unit.

In order to achieve the above object, the vehicle position error correction apparatus of the present invention comprises a GPS antenna and a GPS receiver circuit, a GPS receiver for receiving a GPS signal transmitted from a GPS satellite; A CD-ROM (COMPACT DISK READ ONLY MEMORY) in which map data is stored; A vehicle speed sensor input unit which detects a rotation pulse of the vehicle wheel and counts for a predetermined time and then outputs speed data of the vehicle; Connected to the signal output terminals of the GPS receiver, the CD-ROM and the vehicle speed sensor input unit, inputs a GPS signal output from the GPS receiver, sets an initial position (X _i , Y _i ) of the vehicle, and sets a predetermined time (t) After this, the vehicle position (X _G , Y _G ), the moving distance of the vehicle (D _G ), the estimated travel range of the vehicle (Q _A ) and the GPS signal movement angle (Q _G ), the vehicle speed sensor input unit The vehicle's moving distance (D _S ) is calculated from the speed data of the vehicle, and the vehicle position is corrected when a vehicle position error of GPS occurs, and the corrected position is read from the map data read from the CD-ROM. A CPU for outputting a display control signal for display after matching and for outputting a voice control signal for a voice service; A screen output unit connected to a signal input / output terminal of the CPU and inputting a display control signal output from the CPU to perform image processing and output a display signal; A liquid crystal display (hereinafter referred to as an LCD) connected to a signal output terminal of the screen output unit and inputting a display signal output from the screen output unit to display a current position of a vehicle matched with map data. A display panel; A voice output unit connected to a signal output terminal of the CPU and inputting a voice control signal output from the CPU to output a route guidance and a warning sound of the vehicle as a voice that can be heard by a user through a speaker; It features.

In addition, the control method of the vehicle position error correction apparatus of the present invention, the vehicle initial position setting step (S1) for setting the initial position (X _i , Y _i ) of the vehicle using the GPS signal received through the GPS receiver; A predetermined time determining step (S2) of determining whether a predetermined time has passed after the vehicle initial position setting step (S1); After the predetermined time determination step (S2), when a predetermined time has passed, the position (X _G , Y _G ) of the vehicle after a predetermined time, the moving distance (D _G ) after a predetermined time by using the GPS signal received through the GPS receiver Calculating step (S3) of calculating a progress anticipated range Q _A and a GPS signal movement angle Q _{G of the} vehicle; After the calculating step (S3), the moving distance calculation step (S4) for calculating the moving distance (D _S ) of the vehicle moved for a predetermined time through the vehicle speed sensor; After the moving distance calculation step (S4), the distance tolerance determination step (S5) and determines whether the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is larger than the set tolerance; ; After the distance allowable error determination step (S5), when the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is smaller than the set tolerance, the GPS signal moving angle (Q _G ) of the _A moving angle allowable error determination step (S6) of determining whether the absolute value is greater than the absolute value of the progress range Q _A of the vehicle; After the distance allowable error determination step (S5), when the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is larger than the set tolerance, the moving angle tolerance determination step ( S6) since, GPS when the signal moves when the absolute value of the angle (Q _G) is greater than the progress expected range (Q _a) the absolute value of the vehicle, the vehicle to obtain a vehicle progress each (Q _C) from the digital map each (Q _C) Calculating step S7; A correction step (S8) of calculating and correcting a current position (Xt, Yt) of the vehicle after calculating the vehicle traveling angle (Q _C ) (S7); After the distance allowable error determination step (S5), when the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is smaller than the set tolerance, the position of the vehicle calculated through the GPS signal A current positioning step (S9) for determining (X _G , Y _G ) as the current position (Xt, Yt); After the correcting step (S8) and the current positioning step (S9), it is determined whether to continue the measurement of the position of the vehicle, and proceeds with the predetermined time determination step (S2) when continuing the position measurement of the vehicle ( S10), characterized in that made.

1 is a functional block diagram showing the configuration of a vehicle position error correction apparatus according to an embodiment of the present invention,

FIG. 2 is a control flowchart illustrating an operation process of the vehicle position error correcting apparatus according to FIG. 1;

3 is a view showing a state in which an error occurs in the GPS signal measurement position in the vehicle position error correction apparatus according to FIG.

4 is a view showing a state of determining the position of the vehicle to correct the error of the GPS signal measurement position in the vehicle position error correction apparatus according to FIG.

<Explanation of symbols for main parts of the drawings>

100: GPS receiver 200: CD-ROM

300: vehicle speed sensor input unit 400: CPU

500: screen output unit 600: LCD display panel

700: audio output unit

Hereinafter, the above-described contents will be described in detail through an embodiment according to the present invention.

As shown in FIG. 1, the GPS receiver 100 includes a GPS antenna and a GPS receiver circuit, receives a GPS signal transmitted from a GPS satellite, outputs the signal to the CPU 400, and outputs the CD-ROM 200. ) Is stored in the map data, the vehicle speed sensor input unit 300 detects the rotation pulse of the vehicle wheel, and counts for a predetermined time and then outputs the speed data of the vehicle to the CPU (400).

In addition, the CPU 400 inputs the GPS signal output from the GPS receiver 100 to set the initial position X _i , Y _{i of the} vehicle, and after a predetermined time t passes, the position of the vehicle (X _G , Y _G ), the moving distance (D _G ) of the vehicle, the expected moving range (Q _A ) and the GPS signal moving angle (Q _G ) of the vehicle, the vehicle output from the vehicle speed sensor input unit 300 Calculates the moving distance D _S of the vehicle through the speed data of the vehicle, corrects the vehicle position when a GPS position error occurs, and matches the corrected position to the map data read from the CD-ROM 200. After that, a display control signal for display is output to the screen processor 500, and a voice control signal for a voice service is output to the voice output unit 700.

On the other hand, the screen output unit 500 inputs a display control signal output from the CPU 400, after processing the image and outputs the display signal to the LCD display panel 600, the LCD display panel 600 The display signal output from the screen output unit 500 is input to display the current position of the vehicle matched with map data to the user, and the voice output unit 700 controls the voice output from the CPU 400. The present embodiment is configured by inputting a signal and outputting a route guidance and warning sound of the vehicle through a speaker as a voice that can be heard by a user.

Hereinafter, the operation of the vehicle position error correction device configured as described above with reference to Figures 1, 2, 3, 4 as follows.

First, the GPS receiver 100 is composed of a GPS antenna and a GPS receiving circuit, receives a GPS signal transmitted from a GPS satellite and outputs it to the CPU 400, the CD-ROM 200 is stored in the map data The vehicle speed sensor input unit 300 detects the rotation pulse of the vehicle wheel, counts for a predetermined time, and then outputs the vehicle speed data to the CPU 400.

In addition, the CPU 400 inputs the GPS signal output from the GPS receiver 100 to set initial positions X _i and Y _{i of the} vehicle (S1).

On the other hand, the CPU 400 determines whether a predetermined time t has passed (S2), and when a predetermined time has elapsed, using the GPS signal output from the GPS receiver 100, as shown in FIG. 4. The vehicle position (X _G , Y _G ), the moving distance (D _G ) of the vehicle, the expected travel range (Q _A ) of the vehicle and the GPS signal movement angle (Q _G ) is calculated (S3).

In addition, the CPU 400 calculates the moving distance D _S of the vehicle moved for a predetermined time through the speed data of the vehicle output from the vehicle speed sensor input unit 300 (S4).

In addition, the CPU 400 determines whether the absolute value of the value obtained by subtracting the moving distance D _S of the vehicle from the moving distance D _G is greater than the set tolerance (S5), and the moving distance D _{G of the} vehicle. If the absolute value of the vehicle minus the travel distance (D _S ) is less than the set tolerance, it is determined whether the absolute value of the GPS signal movement angle (Q _G ) is greater than the absolute value of the expected range of the vehicle (Q _A ). (S6).

Meanwhile, as shown in FIG. 3, the CPU 400 moves the GPS signal when the absolute value of the value obtained by subtracting the moving distance D _S from the moving distance D _G of the vehicle is larger than the set tolerance. If the absolute value of the angle Q _G is larger than the absolute value of the vehicle anticipated range Q _A , it is recognized that a vehicle position error of GPS has occurred, and the vehicle traveling angle Q _C is obtained from the numerical map (S7). .

In addition, the CPU 400 calculates the current position (Xt, Yt) of the vehicle through Xt = Xt _-1 + D _S CosQ _C and Yt = Yt _-1 + D _S SinQ _C , and then corrects it ( S8).

On the other hand, the CPU 400 outputs a display control signal for displaying the corrected position (Xt, Yt) to the map data read from the CD-ROM 200 and display it to the screen processor 500, The voice control signal for the voice service is output to the voice output unit 700.

In addition, the screen output unit 500 inputs a display control signal output from the CPU 400, and processes the image and outputs the display signal to the LCD display panel 600, the LCD display panel 600 The display signal output from the screen output unit 500 is input to display the current position of the vehicle matched with the map data to the user.

The voice output unit 700 inputs a voice control signal output from the CPU 400, and outputs a route guidance and a warning sound of the vehicle as a voice that can be heard by a user through a speaker.

On the other hand, when the absolute value of the value obtained by subtracting the moving distance D _S of the vehicle from the moving distance D _G of the vehicle is smaller than the set tolerance, the CPU 400 calculates the position of the vehicle X _G using a GPS signal. , Y _G ) is determined as the current position (Xt, Yt) (S9).

In addition, the CPU 400 displays a display control signal for displaying and displaying the position (Xt, Yt) determined as the current position to the map data read from the CD-ROM 200, and then displayed. And a voice control signal for a voice service to the voice output unit 700.

On the other hand, the screen output unit 500 inputs a display control signal output from the CPU 400, after processing the image and outputs the display signal to the LCD display panel 600, the LCD display panel 600 The display signal output from the screen output unit 500 is input to display the current position of the vehicle matched with the map data to the user.

In addition, the voice output unit 700 inputs a voice control signal output from the CPU 400, and outputs a route guidance and a warning sound of the vehicle as a voice that can be heard by a user through a speaker.

In addition, the CPU 400 determines whether to continue measuring the position of the vehicle (S10). When continuing to measure the position of the vehicle, the CPU 400 performs the predetermined time determining step (S2) again.

As described above, the vehicle position error correcting apparatus of the present invention and a control method thereof determine whether an error has occurred in a current position of a vehicle calculated through a GPS signal, and when an error occurs, the vehicle inputted through a vehicle speed sensor input unit. 4 GPS satellites due to many buildings or buildings when the vehicle equipped with the vehicle navigation system is operated in the city, for example, by correcting the current position of the vehicle in consideration of the speed data and the direction of travel. Even when GPS signals cannot be received from the system, not only can the current position of the vehicle be displayed accurately, but also it is not necessary to implement the method of map matching, thereby reducing the manufacturing cost of implementing the vehicle navigation system. There is.

Claims (2)

A GPS receiver comprising a GPS antenna and a GPS receiver circuit for receiving a GPS signal transmitted from a GPS satellite; A CD-ROM in which map data is stored; A vehicle speed sensor input unit for detecting a rotation pulse of the vehicle wheel and counting the vehicle wheel for a predetermined time and then outputting speed data of the vehicle; Connected to the signal output terminals of the GPS receiver, the CD-ROM and the vehicle speed sensor input unit, inputs a GPS signal output from the GPS receiver, sets an initial position (X _i , Y _i ) of the vehicle, and sets a predetermined time (t) After this, the vehicle position (X _G , Y _G ), the moving distance of the vehicle (D _G ), the estimated travel range of the vehicle (Q _A ) and the GPS signal movement angle (Q _G ), the vehicle speed sensor input unit The vehicle's moving distance (D _S ) is calculated from the speed data of the vehicle, and the vehicle position is corrected when a vehicle position error of GPS occurs, and the corrected position is read from the map data read from the CD-ROM. A CPU for outputting a display control signal for display after matching and for outputting a voice control signal for a voice service; A screen output unit connected to a signal input / output terminal of the CPU and inputting a display control signal output from the CPU to perform image processing and output a display signal; An LCD display panel connected to a signal output terminal of the screen output unit and inputting a display signal output from the screen output unit to display a current position of the vehicle matched with map data; A voice output unit connected to a signal output terminal of the CPU and inputting a voice control signal output from the CPU to output a route guidance and a warning sound of the vehicle through a speaker as a voice that a user can hear; Vehicle position error correction device. A vehicle initial position setting step S1 of setting an initial position X _i , Y _i of the vehicle using a GPS signal received through a GPS receiver; A predetermined time determining step (S2) of determining whether a predetermined time has passed after the vehicle initial position setting step (S1); After the predetermined time determination step (S2), when a predetermined time has passed, the position (X _G , Y _G ) of the vehicle after a predetermined time, the moving distance (D _G ) after a predetermined time by using the GPS signal received through the GPS receiver Calculating step (S3) of calculating a progress anticipated range Q _A and a GPS signal movement angle Q _{G of the} vehicle; After the calculating step (S3), the moving distance calculation step (S4) for calculating the moving distance (D _S ) of the vehicle moved for a predetermined time through the vehicle speed sensor; After the moving distance calculation step (S4), the distance tolerance determination step (S5) and determines whether the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is larger than the set tolerance; ; After the distance allowable error determination step (S5), when the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is smaller than the set tolerance, the GPS signal moving angle (Q _G ) of the _A moving angle allowable error determination step (S6) of determining whether the absolute value is greater than the absolute value of the progress range Q _A of the vehicle; After the distance allowable error determination step (S5), when the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is larger than the set tolerance, the moving angle tolerance determination step ( S6) since, GPS when the signal moves when the absolute value of the angle (Q _G) is greater than the progress expected range (Q _a) the absolute value of the vehicle, the vehicle to obtain a vehicle progress each (Q _C) from the digital map each (Q _C) Calculating step S7; A correction step (S8) of calculating and correcting a current position (Xt, Yt) of the vehicle after calculating the vehicle traveling angle (Q _C ) (S7); After the distance allowable error determination step (S5), when the absolute value of the value obtained by subtracting the moving distance (D _S ) of the vehicle from the moving distance (D _G ) of the vehicle is smaller than the set tolerance, the position of the vehicle calculated through the GPS signal A current positioning step (S9) for determining (X _G , Y _G ) as the current position (Xt, Yt); After the correcting step (S8) and the current positioning step (S9), it is determined whether to continue the measurement of the position of the vehicle, and proceeds with the predetermined time determination step (S2) when continuing the position measurement of the vehicle ( S10) control method of a vehicle position error correction apparatus, characterized in that made.