CN112129968A - Method and device for generating a vehicle speed signal - Google Patents
Method and device for generating a vehicle speed signal Download PDFInfo
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- CN112129968A CN112129968A CN202010572069.7A CN202010572069A CN112129968A CN 112129968 A CN112129968 A CN 112129968A CN 202010572069 A CN202010572069 A CN 202010572069A CN 112129968 A CN112129968 A CN 112129968A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/50—Devices characterised by the use of electric or magnetic means for measuring linear speed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
Abstract
The invention relates to a method for generating a vehicle speed signal by means of a device carried on a vehicle, wherein in a calibration phase: detecting a magnetic field signal representing a magnetic field time profile at a location of the apparatus during a first time period; reading a speed signal representing a speed time profile of the vehicle during a second time period overlapping the first time period; and correlating the magnetic field signal with the velocity signal, thereby matching a frequency of occurrence of the periodically occurring pattern in the magnetic field signal to a velocity; wherein in the run phase: detecting a further magnetic field signal representing a magnetic field time profile during a third time period; determining a current vehicle speed from a current frequency of occurrence of the pattern that occurs periodically in the further magnetic field signal, based on a matching relationship of the speed found in the calibration phase to the frequency of occurrence of the pattern; and outputs a vehicle speed signal representing the current vehicle speed. The invention also proposes an apparatus and a computer program.
Description
Technical Field
The present invention relates to a method and a device for generating a vehicle speed signal and a computer program.
Background
Known vehicle navigation systems are designed to determine a driving route from a current vehicle position to a user-desired destination and guide the user along the driving route with navigation prompts in the form of voice or displayed on a display. These vehicle navigation systems typically have a method of self-localization. Typically, signals of one or more satellite positioning systems (e.g. GPS, GLONASS, galileo) are received and evaluated for self-positioning and in addition to this also for determining the vehicle speed. Since the accuracy of the satellite positioning, which was publicly available at first, is low, older generation navigation systems often use magnetic compasses and odometers, i.e. inertial sensors, for self-positioning purposes, with which new positions are determined after driving over a certain distance based on the last known position. Which is preferably compared to a digital map for authenticity verification.
Mobile devices, such as in particular smartphones with suitable software (applications), are also increasingly used for vehicle navigation. Such mobile devices are usually battery-powered and have a receiver for receiving signals from at least one satellite positioning system and inertial sensors (such as acceleration and/or rotation rate sensors, in particular) and a magnetic field sensor designed for detecting and evaluating the earth's magnetic field. For the purpose of vehicle navigation, these mobile devices are usually located in the area of the vehicle windshield and thus in the peripheral field of view of the vehicle driver, which on the one hand makes the navigation prompts easy to perceive and on the other hand receives signals from the satellite positioning system well.
A limiting factor when running multiple programs (apps) periodically simultaneously on today's mobile devices, especially smartphones, is the availability and limitation of the device battery power supply and device runtime in autonomous operation, i.e. without subsequent charging and without external power supply connection. In this case, the reception and evaluation of signals of the satellite positioning system is particularly energy-intensive.
It is described in Ke-Yu Chen, Tahul C.Shah, Jonathan Huang, Lama Nachman: "Mago: model of Transport introduction Using the Hall-Effect Magnetic Sensor and accumulator", Proceedings of the2017ACM International Joint Conference on Pervasive and Ubiquitous Computing,2017 that the geomagnetic field measurable thereat in a moving motor vehicle can be influenced by vehicle equipment components. Specifically, a correlation between the vehicle speed and the occurrence of characteristic patterns in the frequency spectrum of the detected geomagnetic field signal is observed.
Disclosure of Invention
The advantage of the invention is that even if the availability of radio signals of a satellite positioning system (hereinafter also referred to as satellite positioning signals) is limited, a mobile terminal, in particular a smartphone, with a magnetic compass or a geomagnetic field magnetic sensor can be used to determine its own speed when carrying the terminal device with a vehicle, to determine the vehicle speed and thus also the vehicle position, i.e. for self-positioning. The limited availability of satellite positioning signals can be attributed to external influences, for example in narrow urban canyons, in parking lots or when driving through tunnels, for example due to obstructions that block the positioning satellites. On the other hand, this may also be caused by the mobile terminal itself, since the reception of the satellite positioning signals is limited to a short time window, preferably at regular time intervals or after traveling a certain distance, for the purpose of saving energy and thus protecting the battery power supply.
The invention herein advantageously makes use of the effects described in Ke-Yu Chen, Tahul C.Shah, Jonathan Huang, Lama Nachman: "Mago: model of Transport interference Using the Hall-Effect Magnetic Sensor and Accelerometer", Proceedings of the2017ACM International Joint Conference on Pervasive and Ubiotous Computing, 2017.
The measurement itself shows that at a specific location inside the motor vehicle there is a linear relationship between the vehicle speed and the pattern in the frequency spectrum of the geomagnetic field detected inside the vehicle, more precisely the frequency of occurrence of the pattern in the frequency spectrum. The frequency spectrum of the detected geomagnetic field has a characteristic deviation caused by the number of wheel revolutions of one of the four wheels. This dominant frequency is also referred to as the earth-magnetic field distortion frequency in the following.
According to the invention, a method for generating a vehicle speed signal by means of a device carried with a vehicle is proposed, which method comprises a calibration phase and an operating phase.
In the calibration phase:
detecting a magnetic field signal representing a magnetic field time profile at the location of the apparatus during a first time period,
-reading a speed signal representing a speed time profile of the vehicle during a second time period overlapping the first time period, and
-correlating the magnetic field signal with the velocity signal and thereby matching the frequency of occurrence of the periodically occurring pattern in the magnetic field signal with a velocity.
In the run phase:
detecting a further magnetic field signal representing a magnetic field time profile during a third time period,
-determining the current vehicle speed from the current frequency of occurrence of the pattern that periodically occurs in the further magnetic field signal, based on the matching of the speed found in the calibration phase to the frequency of occurrence of the pattern, and
-outputting a vehicle speed signal representative of a current vehicle speed.
It is assumed here that the magnetic field signal determined at the measuring location (i.e. for example in the interior of the vehicle) reflects the magnetic field time profile which can be generated in the geomagnetic field measured at the vehicle location and the superposition or distortion thereof caused by the vehicle equipment (for example the wheels).
In a preferred embodiment, it is provided that the speed signal read during the calibration phase is provided by a satellite receiver which receives radio signals of a satellite positioning system, such as GPS, GLONASS and/or GALILEO, and determines the vehicle speed therefrom. The satellite receiver is preferably a component of a device carried by the vehicle, i.e. in particular a mobile terminal or a smartphone.
It is particularly advantageous here to carry out the calibration for different vehicle speeds or other variable vehicle parameters, so that the nonlinearity between the frequency of occurrence of the pattern in the magnetic field signal and the speed can be detected and compensated for by the magnetic field signal detected during the operating phase when determining the vehicle speed. For this purpose, for example, the relationship between the frequency of occurrence of the pattern and the speed may be stored in a table as grid points and used as a basis for determining the vehicle speed later.
In a preferred embodiment, it is provided that the current direction of travel is also determined from the magnetic field signal, and that the vehicle speed signal comprises a value of the current vehicle speed and the current direction of travel. The current driving direction is preferably determined by comparing the magnetic field signal with a magnetic field map, in which the local orientation of the earth magnetic field is recorded. It is known that on the one hand the magnetic north does not correspond to the geographical north and on the other hand the earth magnetic field is subject to a position-dependent deviation. Finally, drift of the orientation of the earth magnetic field can also be observed. These deviations are shown in the magnetic field map, which is preferably updated periodically.
The calibration phase is preferably repeated. It can thus be provided that this calibration phase is carried out each time the method is started, as long as information about the speed signal is provided for reading, i.e. for example as long as satellite positioning signals can be received so that the movement speed of the device and thus of the vehicle can be determined on the basis of the satellite positioning signals. It can also be provided that the calibration phase is carried out at regular time intervals or after the vehicle has traveled a certain distance, as long as a speed signal is provided for reading.
The method can advantageously be used for determining a vehicle speed, or the vehicle speed signal generated in this way can advantageously be used for determining the current vehicle position. Conventional coupling positioning methods can be used for this purpose. Here, the new current position is determined from the information about the vehicle speed and the elapsed time period and the information about the vehicle movement direction on the basis of the last known position. It is particularly advantageous here if the vehicle speed signal includes a movement direction in addition to the value of the vehicle speed. The current position thus determined is preferably compared with a digital map in a manner known per se for authenticity checking and, if necessary, for correction. Furthermore, in order to increase the accuracy of the coupling positioning, the signals of other existing sensors (e.g. rotational speed sensors) can also be used. Furthermore, the satellite positioning signals received in this case and the position information determined therefrom can also be used for plausibility checking and/or for correction of the coupling position during the calibration phase.
It is also advantageous for the device provided for carrying out the method according to the invention to comprise possible modifications of the device. Such an apparatus may advantageously be designed in the form of a mobile terminal, in particular a smartphone or similar device with suitable software. It is essential here that the device has a magnetic field sensor which is suitable and designed for detecting the earth magnetic field or, according to the operating principle of the invention, detects earth magnetic fields which are superimposed or distorted during operation of the vehicle due to vehicle parts or vehicle equipment. Furthermore, the device comprises access rights to the speed information. The access rights may be provided by an interface, preferably a radio interface (e.g. bluetooth), with the vehicle bus transmitting the speed signal. The access rights may also be provided by interfacing with an onboard receiver for satellite positioning signals of the GPS-GLONASS and/or GALILEO satellite positioning systems, wherein the vehicle speed is derived from the satellite positioning signals on the vehicle side or in the terminal. The access rights can also be provided, for example, by a receiver for satellite positioning signals of the device itself, i.e. as a component of the apparatus, which receiver in this case preferably operates in a clocked manner to save power.
Finally, a computer program is also advantageous, which can be stored or is stored on a storage medium and is designed to carry out the aforementioned method when the computer program runs on a computer. Here, the computer may be the mobile terminal, for example a smartphone with a suitable interface.
Drawings
Embodiments of the present invention are illustrated in the accompanying drawings and described in greater detail below. In the drawings, like reference numbers can indicate identical or functionally similar elements.
Figure 1 shows a block diagram of an embodiment of an apparatus for performing the method according to the invention,
figure 2 shows a flow chart of an embodiment of the method according to the invention,
fig. 3 shows a comparison of schematic diagrams showing the interrelationships on which the invention is based.
Detailed Description
Fig. 1 shows a block diagram of an embodiment of an apparatus for performing the method according to the invention.
The device 10 according to the invention is carried with the vehicle 1. In the illustrated preferred embodiment of the invention, the apparatus 10 is, without limiting the generality, a mobile terminal device in the form of a smartphone, i.e. a mobile telephone arranged for operation in a cellular network, having a computer 13 and operating software and application programs or application software (so-called applications or App for short) and a user interface 16 in the form of a display, a loudspeaker and input or operating elements. In the vehicle 1, the device 10 is fixed and held at the windshield of the vehicle 1 or in its region, for example by means of a stand, and can be used as a vehicle navigation device, for example together with a navigation application, i.e. calculates a driving route from the current vehicle position to a destination preset by the user, and guides the vehicle driver along the calculated driving route during the driving of the vehicle by outputting navigation prompts, in particular turn prompts, in the form of a display on the display or issuing voice instructions through the loudspeaker of the device.
The device 10 has a receiver 11 for signals of one or more satellite positioning systems, such as in particular GPS (global positioning system), GLONASS and/or GALILEO. The received satellite positioning signals are evaluated in a manner known per se in a receiver 11 designed for this purpose and the resulting information, in particular the information derived therefrom about the current position and the current speed 110 of the device and the vehicle, is provided to a computer 13 of the device 10 in connection with the invention.
In a preferred embodiment of the device 10, which is described as a smartphone, the control input of the receiver 11 is connected to the output of the computer 13. This connection is used to turn the receiver 11 on or off or to operate the receiver 11 in a timed manner as required to thereby save power for operation of the receiver 11, since smartphones in battery mode are known to have limited power reserves. Furthermore, the device 10 has a magnetic compass or magnetic field sensor 12, which is designed to detect and evaluate the geomagnetic field at the location of the device 10. The output signal of the magnetic field sensor 12 is fed to a computer 13 of the device 10.
In connection with its operating software and application programs, the computer 13 is designed to perform the steps of the method according to the invention, namely on the one hand the calibration phase and on the other hand the run phase of the method, which will be explained in connection with fig. 2.
The computer 13 is connected to a memory 14. The memory 14 is preferably a storage area of an already existing program memory or data memory of the device 10 or smartphone. The memory 14 is used to store the relationship between anomalies or patterns in the magnetic field signal determined during the calibration phase and the vehicle speed.
Furthermore, the computer 13 is also designed to determine the current vehicle speed from the current magnetic field signal provided by the magnetic field sensor 12 using the pattern or the relationship between the pattern occurrence frequency and the speed in the magnetic field signal stored in the memory 14, and to generate and output a vehicle speed signal 15 representing the value and direction of the vehicle speed. This vehicle speed signal 15 is provided for further processing means, not shown, or functions in the vehicle 1 or preferably also in the device 10 itself, such as a navigation application 131 running on a smartphone, for determining the current vehicle position and deriving and outputting navigation prompts therefrom. Without limiting generality, the navigation application 131 represents an example of a possible application of the vehicle speed signal 15. The navigation application 131 is shown here as a separate block only for the sake of clarity, but in an actual implementation it preferably runs on the computer 13 of the device similarly to the other applications.
The mode of action of the method according to the invention is explained below with reference to fig. 2, fig. 2 showing a flow chart of an embodiment of the method according to the invention.
The method is implemented in the form of software or a software application (abbreviated as "App"), which is processed on the computer 13 of the device 10 according to the invention, here the smartphone 10.
The method according to the invention comprises two phases, namely a calibration phase 20 and an operating phase 30. The calibration phase is used to establish a relationship between a periodically fluctuating or periodically occurring pattern in the earth magnetic field, which can be measured at the location of the smartphone 10 carried with the vehicle 1, and the vehicle speed.
For this purpose, the receiver 11 for satellite positioning signals is first switched on by the computer 13.
The magnetic field signal is detected in step 210 of the calibration phase. The magnetic field signal comprises a series of temporally successive magnetic field sample values, which magnetic field can be measured at the location of the device. The magnetic field that can be measured at the location of the device results from a distortion and/or superposition of the geomagnetic field at the location of the device, wherein the distortion or superposition results from the operation of the vehicle, more precisely from the driving of the vehicle.
A speed signal is also detected in step 220 of the calibration phase, the speed signal representing a profile of the vehicle speed. The detection of the speed profile and the speed signal is preferably performed simultaneously with the detection of the magnetic field signal. However, the magnetic field signal and the velocity signal must have at least a time overlap Tg. A time overlap Tg of a few seconds and a total observation duration of a few seconds when simultaneously observing the velocity and the magnetic field are sufficient for the basic function of the invention.
In a practical implementation, the observation period and the time period covered by the magnetic field signal and the speed signal may be dynamically adjusted, for example, to cover a certain vehicle speed range.
In a subsequent step 230, the velocity signal is compared, i.e. correlated, with the detected magnetic field signal. The purpose of this comparison is to identify the relationship between the frequency of occurrence of the characteristic patterns, i.e. distortions or superpositions of the earth magnetic field, and to match the vehicle speed thereto. The analysis of the magnetic field signal with respect to the pattern can be carried out in the time domain, but also in the frequency domain. In an advantageous embodiment, the matching of the frequency and the speed of the occurrence of the different modes is detected. These matches are stored in the memory 14 of the device 10 in step 240.
In a preferred embodiment of the invention, the receiver 11 for the satellite positioning signals is deactivated after detection of the speed signal, in order to thereby save power and thus protect the power supply present in the battery of the smartphone.
The calibration phase 20 may preferably be repeated. In particular, it is provided that the calibration phase is initiated each time the method is started, i.e. each time the application is started or each time a vehicle drive is started. Furthermore, it is provided that the calibration phase is initiated each time after the device 10 has been reinstalled or reinstalled on or in the vehicle 1. Tolerances in the positioning of the device that may affect the detection of the magnetic field can thereby be compensated. In a further embodiment, provision can also be made for the calibration to be started at regular time intervals of, for example, a few minutes (for example five minutes) or after the vehicle has traveled a predetermined distance of a few kilometers (for example 10 kilometers).
Finally, it is also preferably provided that the calibration 20 is always initiated if the vehicle is traveling at a speed outside the previously detected speed range. This may be the case, for example: the vehicle, after its start and after the start of the method, travels in urban areas with a speed range of 0km/h to 55km/h and then reaches, for example, a speed range of 50km/h to 110km/h in intercity traffic or a speed range of, for example, 80km/h to 200km/h in motorway travel. The following is also important here based on the recognition: the relationship between the frequency of distortion of the earth magnetic field, i.e. the frequency of occurrence of a mode in the magnetic field signal, is or may be non-linear. The detection of different speed ranges is used to increase the accuracy of the method.
In principle, the calibration phase 20 may preferably always be triggered as long as it can be assumed, based on internal or external influencing factors, that the relationship between the distortion frequency and the speed of the earth magnetic field must or may deviate from the previously detected relationship. This may also be the case, for example: for example, when the wheel rotation is determined as the cause of the distortion of the geomagnetic field, the rolling circumference of the vehicle tire may change, for example, due to the load or at higher vehicle speeds.
The actual operating phase 30 follows the calibration phase in time. In the operating phase 30, the movement speed of the device 10 and thus of the vehicle 1 is determined without evaluating the speed signal, i.e. preferably without deactivating the receiver 11 of the satellite positioning signal.
A magnetic field signal is detected in step 310. The time range Tm of the magnetic field signal or the detected magnetic field time curve represented thereby can be very short compared to the magnetic field signal of the calibration phase, a period of several seconds being sufficient. The time period required depends on the relationship between the frequency of occurrence of the pattern or the frequency of distortion of the earth magnetic field and the velocity determined in the calibration phase. According to fig. 3, the frequency may be in the range of unit hertz (1/s), for which case a detection duration of e.g. 5 seconds is suitable, wherein the sampling rate has to meet the nyquist criterion.
In step 320, based on the matching of the pattern occurrence frequency or the geomagnetic distortion frequency stored in the memory 14 and the speed, the current vehicle speed is determined from the currently determined pattern occurrence frequency or the geomagnetic distortion frequency and provided as the vehicle speed signal 15. The vehicle speed signal can be used for further functions, in particular for determining the vehicle position by coupled localization and/or by coupled localization of further plausibility checks, for example by map matching.
Fig. 3a, 3b and 3c show the interrelations on which the invention is based by means of schematic diagrams corresponding to one another.
Fig. 3a shows a vehicle speed curve recorded over a time period of 1200 seconds, i.e. about 20 minutes, on the ordinate the time t in seconds and on the abscissa the vehicle speed v in mph at the respective time points. The arrow marks the current vehicle speed at 600 seconds at the point in time of this recording, which has a value of 40.16mph, i.e. 64.62 km/h.
Fig. 3b shows a recorded curve of the magnetic field strength measured in the vehicle over the same time period of 1200 seconds, which was recorded simultaneously with the speed recording shown in fig. 3 a. The ordinate likewise shows the time t in seconds, and the abscissa shows the frequency of change f of the detected magnetic field, in Hz, i.e. 1/s, and more precisely the distortion frequency of the geomagnetic field at the respective time points. The arrow again marks the frequency value at the time point of 600 seconds, the determined distortion frequency of the geomagnetic field is 9.83 Hz.
Thus, the vehicle speed of 64.62km/h at a time point of 600 seconds after the start of recording can be matched with the distortion frequency of the geomagnetic field of 9.83 Hz. From a logical point of view, the synthetic geomagnetic field distortion frequency at 0Hz can be matched with the vehicle speed at 0 km/h. A straight line can thus be determined, from which the slope can be determined for any determined value of the distortion frequency of the earth magnetic field, and the corresponding vehicle speed.
This relationship is based on the assumption made herein that the main distortion of the earth's magnetic field is caused by the rotation of at least one wheel or wheel drive shaft,
v is f × U, wherein
-v is the vehicle speed,
f is the predominant distortion frequency of the earth magnetic field determined at the point in time of measurement, and
u is the tire rolling circumference of the wheel.
Fig. 3c shows that for a wide speed range there is a high correlation between the determined prevailing geomagnetic distortion frequency, i.e. the relationship between the geomagnetic distortion frequency and the vehicle speed is linear over a wide speed range. The ordinate represents the (normalised) main frequency of the distortion of the earth magnetic field and the abscissa represents the (normalised) vehicle speed. The correlation coefficient was 0.91.
In order to improve the inaccuracies due to the still existing non-linearity, the calibration phase 20 is preferably carried out for a plurality of mutually different vehicle speed ranges, as described above. The plurality of measurement value pairs determined in this way makes it possible to determine the vehicle speed by interpolating from the distortion frequency of the earth magnetic field or the frequency of occurrence of a pattern in the magnetic field signal.
Claims (11)
1. A method for generating a vehicle speed signal (15) by means of a device (10) carried with a vehicle (1),
wherein in a calibration phase (20):
-detecting a magnetic field signal (220), the magnetic field signal (220) representing a magnetic field time profile at a location of the apparatus (10) during a first time period,
-reading a speed signal (210), the speed signal (210) representing a speed time profile of the vehicle (1) during a second time period overlapping the first time period, and
-correlating the magnetic field signal with the speed signal and thereby matching the frequency of occurrence of the periodically occurring patterns in the magnetic field signal with a speed,
wherein in the operating phase (30):
-detecting a further magnetic field signal (310), the further magnetic field signal (310) representing a magnetic field time profile during a third time period (Tm),
-determining a current vehicle speed from a current frequency of occurrence of a pattern periodically occurring in the further magnetic field signal based on a matching relationship of the speed found in the calibration phase to the frequency of occurrence of the pattern, and
-outputting a vehicle speed signal (15) indicative of the current vehicle speed.
2. Method according to claim 1, characterized in that the speed signal read during the calibration phase is provided by a satellite receiver which receives radio signals of a satellite positioning system and from which the speed of the vehicle is determined.
3. A method according to claim 1 or 2, characterized in that a current direction of travel is determined from the magnetic field signal, and that a vehicle speed signal comprises a value of the current vehicle speed and the current direction of travel.
4. Method according to claim 3, characterized in that the current direction of travel is determined from the magnetic field signal, preferably by comparison of the magnetic field signal with a magnetic field map in which the local orientation of the earth's magnetic field is recorded.
5. Method according to any one of the preceding claims, characterized in that the calibration phase is performed each time after a change in the position of the device relative to the vehicle, in particular when the device is reinstalled or reinstalled on or in a passenger compartment of the vehicle.
6. Method according to any of the preceding claims, characterized in that the calibration phase is performed repeatedly.
7. Method according to claim 6, characterized in that the calibration phase is performed each time the method is started as long as a speed signal is provided for reading.
8. Method according to claim 6 or 7, characterized in that the calibration phase is performed at regular time intervals and/or after the vehicle has travelled a certain distance, as long as a speed signal is provided for reading.
9. Method according to any one of the preceding claims, characterized in that the current vehicle position is determined by means of a vehicle speed signal generated and provided according to any one of the preceding claims.
10. An apparatus (10) arranged to perform the method according to any of the preceding claims.
11. A computer program storable on a storage medium arranged to perform the method according to any one of claims 1 to 8 when the computer program runs on a computer.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102019209092.3 | 2019-06-24 | ||
| DE102019209092.3A DE102019209092A1 (en) | 2019-06-24 | 2019-06-24 | Method for generating a vehicle speed signal and device and computer program for this |
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| CN112129968A true CN112129968A (en) | 2020-12-25 |
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| CN202010572069.7A Pending CN112129968A (en) | 2019-06-24 | 2020-06-22 | Method and device for generating a vehicle speed signal |
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| DE (1) | DE102019209092A1 (en) |
Citations (5)
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|---|---|---|---|---|
| US5469360A (en) * | 1991-03-10 | 1995-11-21 | Matsushita Electric Industrial Co., Ltd. | Vehicle position detecting apparatus |
| US6466200B1 (en) * | 1999-11-03 | 2002-10-15 | Innalabs, Inc. | Computer input device |
| CN101010593A (en) * | 2004-07-08 | 2007-08-01 | 霍尼韦尔国际公司 | Integrated magnetoresitive speed and direction sensor |
| CN101208578A (en) * | 2003-02-24 | 2008-06-25 | 金泰克斯公司 | Electronic compass system |
| CN105300395A (en) * | 2014-07-11 | 2016-02-03 | 北京协进科技发展有限公司 | Navigation and positioning method and device |
-
2019
- 2019-06-24 DE DE102019209092.3A patent/DE102019209092A1/en active Pending
-
2020
- 2020-06-22 CN CN202010572069.7A patent/CN112129968A/en active Pending
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|---|---|---|---|---|
| US5469360A (en) * | 1991-03-10 | 1995-11-21 | Matsushita Electric Industrial Co., Ltd. | Vehicle position detecting apparatus |
| US6466200B1 (en) * | 1999-11-03 | 2002-10-15 | Innalabs, Inc. | Computer input device |
| CN101208578A (en) * | 2003-02-24 | 2008-06-25 | 金泰克斯公司 | Electronic compass system |
| CN101010593A (en) * | 2004-07-08 | 2007-08-01 | 霍尼韦尔国际公司 | Integrated magnetoresitive speed and direction sensor |
| CN105300395A (en) * | 2014-07-11 | 2016-02-03 | 北京协进科技发展有限公司 | Navigation and positioning method and device |
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| Title |
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| KE-YU CHEN 等: "Mago:Mode of Transport Inference Using the Hall-Effect Magnetic Sensor and Accelerometer", 《PROCEEDINGS OF THE ACM ON INTERACTIVE, MOBILE, WEARABLE AND UBIQUITOUS TECHNOLOGIES》 * |
| 董辉: "《汽车用传感器》", 28 February 2009, 北京理工大学出版社 * |
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| DE102019209092A1 (en) | 2020-12-24 |
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Application publication date: 20201225 |