JP2002188931A - On-vehicle processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an on-vehicle processor capable of accurately figuring out the traveling direction of one's own vehicle. SOLUTION: While an ACC (accessory switch) is on, a picture image of a camera 50 is captured by and stored in a first memory at prescribed time intervals. When the ACC turns from an off state to an on state, a picture image of the camera 50 is stored in a second memory, and the picture images in the first and second memories are matched with each other. As a result of the matching, if the percentage of the matching does not satisfy a prescribed threshold, the vehicle is determined to have made a turn and the traveling direction is corrected by 180 degrees. Accordingly, even when the vehicle makes a turn with the ACC in an off state as on a turn table in a parking lot, the traveling direction of the vehicle can be accurately figured out.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-vehicle processing device for performing processing based on a traveling direction.

[0002]

2. Description of the Related Art Conventionally, there has been known an in-vehicle processing device that detects a traveling direction of a vehicle and performs a predetermined process. As an example of such an in-vehicle processing device, a current position where the vehicle moves as the vehicle travels is displayed together with a road map on a display, an appropriate route from the current position to the destination is set, and route guidance is performed. And a navigation device for performing such operations.

In such a navigation device, the traveling direction of the vehicle is determined by an azimuth sensor such as a gyroscope or a GP.
Based on the change in data from S, a mark indicating the traveling direction of the own vehicle is displayed on the display device, a map of the traveling direction of the own vehicle is displayed, or By reporting facility guidance, etc., it contributes to a smoother drive.

[0004]

However, for example, when the ACC (accessory switch) is off,
Power is not supplied to the navigation device itself, and a change in the traveling direction cannot be detected. Therefore, for example, if the traveling direction of the vehicle is changed while the power is not supplied by a direction changing device such as a turntable installed in a multilevel parking lot or the like, the change in the traveling direction cannot be detected. Therefore, when starting the engine (ACC O
The traveling direction at the time of (N) is the traveling direction immediately before the power is turned off (ACC OFF), and a deviation occurs from the actual direction. After that, the navigation device processes the vehicle as if it were traveling in a direction different from the actual traveling direction, and until the user determines that the traveling direction of the vehicle is incorrect based on data obtained from the GPS or the like. There is a problem that accurate information cannot be provided for

However, if power is supplied to the entire apparatus even when the ACC is turned off, there is a problem that the power charged in the battery is consumed in a relatively short time. Therefore, an object of the present invention is to provide an in-vehicle processing device capable of suppressing power consumption and performing a predetermined process based on a correct traveling direction when power is turned on.

[0006]

According to the first aspect of the present invention, there is provided an in-vehicle processing apparatus which solves the above-mentioned problems by using a correction pattern registered in advance after power-on. The direction is corrected, and a predetermined process is performed based on the corrected traveling direction. Therefore, the predetermined process is not performed based on the wrong traveling direction as in the related art, and the predetermined process can be performed based on the correct direction. Further, since the correction is made after the power is turned on, it is not necessary to supply power to the in-vehicle processing device in order to obtain a correct traveling direction.

[0007] The correction pattern includes information on a situation to be corrected and information on how to perform the correction when the situation is reached. For example, in a situation where correction information is received from the outside, a correction pattern may be used in which the travel direction included in the correction information is corrected.

[0008] Further, for example, the present invention may be configured as in claim 2. In this way, for example, the location of the parking lot equipped with a turntable is registered as correction point information, and the traveling direction at the time of exiting the parking lot is registered as the traveling direction information, so that the parking lot can be exited. When the power of the on-vehicle processing device is turned on, the correct heading direction can be obtained immediately. Therefore, a particularly excellent effect is exhibited when it is known in advance that the azimuth of the own vehicle changes while power is not supplied to the in-vehicle processing device, for example, in a parking lot that enters and exits from the same direction every time.

Further, according to the third aspect, the traveling direction is corrected in consideration of the approach direction to the correction point. Therefore, it is possible to more accurately determine whether or not to perform correction, for example, when the correction points are adjacent to each other. The above-described correction pattern may be input and registered by a user, for example, or may be recorded on a recording medium. Moreover, you may make it acquire by communication etc. Then, the traveling direction information may be a rotation amount of the vehicle at the correction point. When the rotation amount is used, the traveling direction may be obtained by adding the rotation amount to the direction before the power is turned off.

According to the present invention, it is possible to detect a change in the traveling direction while the power is not supplied to the processing unit. Therefore, the correct traveling direction can be obtained after turning on the power to the processing unit without setting the rotation amount and the traveling direction in advance. In addition, when it is not necessary to perform the predetermined processing, power supply to the processing unit can be cut off, so that power consumption can be suppressed. Therefore, for example, when the ACC is OFF, power is not supplied to the processing unit, and power is supplied only to the detection unit, so that the consumption of the battery of the vehicle can be suppressed. Particularly, when the power consumption of the processing unit is larger than the power consumption of the detection unit, an excellent effect is exhibited.

Further, according to the present invention, it is possible to correct the traveling direction after the power is turned on without setting a correction pattern in advance. Further, since the correction is made after the power is turned on, it is not necessary to supply power to the in-vehicle processing device in order to obtain a correct traveling direction. In this case, according to the sixth aspect, the traveling direction can be corrected more accurately.

The situation around the own vehicle according to claim 5 or 6 may be captured as an image, for example, as described in claim 7. In this way, the image before the power is turned off and the image when the power is turned on can be compared, and the traveling direction of the own vehicle can be corrected. Further, as described in claim 8, the situation around the own vehicle may be regarded as the position or distance of an obstacle from the vehicle. In this case, the traveling direction can be corrected, for example, as in claim 9. That is,
For example, in a parking lot where the power supply to the in-vehicle processing device is shut off, that is, for example, in a parking lot where the vehicle is rotated with the engine turned off, the vehicle is normally moved forward to enter the parking lot. In such a parking lot, when the vehicle is rotated by 180 ° inside the parking lot and the engine is started again, it is possible to leave the parking lot by moving forward. Generally, there is an obstacle such as a wall or a car stop in front of the vehicle when the vehicle is to be stored, so that when the vehicle is stored, the obstacle is detected ahead. On the other hand, when the vehicle is taken out of the parking lot, since the vehicle is rotated by 180 °, this obstacle comes behind. Therefore, the traveling direction can be corrected as in claim 9.

However, for example, when the vehicle is parked behind the other vehicle on the road and the vehicle is parked in parallel, the power of the vehicle-mounted processing device is cut off, and then the power of the vehicle-mounted processing device is turned on again. In some cases, the vehicle parked in front of the host vehicle has already disappeared, and another vehicle is parked behind the host vehicle. In such a case, the apparatus according to claim 9 rotates the traveling direction by 180 °. Therefore, in such a case, it is desired not to perform the correction. Therefore, when the traveling locus immediately before the power is turned off is not straight ahead, the correction may not be performed. For example, in the case of the above-described parking lot, the vehicle often goes straight ahead and enters a predetermined parking position.
However, in the case of parallel parking on a road, the vehicle is parked near the left end of the road. Therefore, in such a case, no correction is performed in such a case. Similarly, as set forth in claim 11,
If the running locus immediately after turning on the power is not a straight line, the correction may not be performed.

According to a twelfth aspect of the present invention, the vehicle position immediately before the power is turned off is stored, and if the stored vehicle position is a position corresponding to a road after power-on, no correction is performed. It is good to By doing so, it is possible to prevent erroneous correction when parking on a road.

The predetermined processing in claims 1 to 12 includes, for example, a processing for performing a navigation processing as described in claim 13. As shown in claim 13, if the in-vehicle processing device is a navigation device,
As the navigation processing as the predetermined processing, for example, when displaying a mark indicating the traveling direction of the vehicle and a map of the surroundings or notifying the guidance of the facility in the traveling direction, processing based on an incorrect traveling direction Is performed, and these navigation processes can be performed based on the correct orientation immediately upon power-on. Therefore, problems such as confusion and discomfort to the driver do not occur.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. It is needless to say that the embodiments of the present invention are not limited to the following examples, and can take various forms as long as they belong to the technical scope of the present invention. [First Embodiment] FIG. 1 is a block diagram showing a configuration of a navigation device 20 as an in-vehicle processing device. The navigation device 20 includes a position detector 21 for detecting the current position of the vehicle, an operation switch group 22 for inputting various instructions from a user, and a remote control terminal capable of inputting various instructions similarly to the operation switch group 22. (Less than,
Called remote control. ) 23a, a remote control sensor 23b for inputting a signal from the remote controller 23a, a mobile phone connection device 24 for connecting the mobile phone 30 to perform a telephone call or communication with the outside, and an external device for recording map data and various information. External storage device 25 for inputting map data and the like from a storage medium
And a display device 26 for performing various displays such as a map display screen and a TV screen, a speaker 27 for outputting various guide sounds and the like, an operation switch group 22 and a remote controller 23a.
Microphone 2 for inputting various instructions by voice in the same way as
8, various processes are executed in accordance with the input from the position detector 21, the operation switch group 22, the external storage device 25, the remote control 23a, and the microphone 28, and the position detector 21, the operation switch group 22, the remote control sensor 23b, Mobile phone connection device 24, external storage device 25, display device 26, speaker 2
And a control circuit 29 for controlling the microphone 28.

The position detector 21 is a GPS (Global Positi
A GPS receiver 21a that receives a transmission radio wave from an artificial satellite for an oning system via a GPS antenna and detects the position, direction, speed, and the like of the vehicle, and a gyro that detects the magnitude of the rotational motion applied to the vehicle. A scope 21b and an acceleration sensor 21 for detecting the longitudinal acceleration of the vehicle
c. And each of these sensors 21a ~
21c each have an error of different properties,
It is configured to be used while complementing each other. Depending on the accuracy, the GPS receiver 21a and the gyroscope 21b may not be provided. Alternatively, a sensor for determining the direction by accumulating a steering angle of the vehicle obtained from a geomagnetic sensor, a rotation difference between left and right steering wheels, and the like may be used. A wheel sensor or the like for each rolling wheel may be used.

The operation switch group 22 includes the display device 2
A touch switch which is formed integrally with the display device 6 and is provided on the display screen, a mechanical key switch provided around the display device 26, and the like are used. The touch switch is composed of an infrared sensor that is arranged vertically and horizontally on the screen of the display device 26. For example, when the infrared light is interrupted by a finger or a touch pen, the interrupted position becomes a two-dimensional coordinate value (X, Y). ). Thus, a predetermined instruction can be input by directly touching the display screen.

The external storage device 25 is a device for inputting various data including so-called map matching data, map data, and other additional data for improving the accuracy of position detection. As the external storage medium, a CD-ROM or DVD is generally used because of its data amount, but other media such as a magnetic storage device such as a hard disk or a memory card may be used.

The road data is obtained by connecting a plurality of nodes such as intersections with links to form a map.
For each link, a unique number (link ID) for identifying the link, a link length indicating the length of the link, x and y coordinates of the start and end of the link, a road width of the link, and a road type (toll road, etc.) (Which indicates road information).

The display device 26 is a color display device.
On the display screen, a mark indicating the current position of the vehicle detected by the position detector 21, map data input from the external storage device 25, a destination mark, and the mobile phone connection device 24 are displayed.
And additional data such as a guide route to the destination, a name, a landmark, and marks of various facilities can be displayed in a superimposed manner. A facility guide can also be displayed. Further, the speaker 27 outputs a facility guide or various guidance voices input from the external storage device 25.

The control circuit 29 includes a CPU, ROM, RA
It is mainly composed of a well-known microcomputer including M, I / O and a bus line connecting these components, and detects each detection signal from the position detector 21 based on a program stored in ROM and RAM. A current position calculation process of calculating the current position of the vehicle as a set of coordinates and traveling direction based on the map, a process of displaying a map or the like near the current position read via the external storage device 25 on the display device 26,
Based on the point data stored in the external storage device 25, a destination selection process for selecting a destination facility according to an operation of the operation switch group 22 or the remote controller 23a, etc., and an optimum route from the current position to the destination is automatically determined. And performs a route guidance process for providing guidance according to the selected route. The method for automatically setting the optimal route in this way is as follows.
Techniques such as the Dijkstra method are known. Then, the guidance route is displayed on the road map on the display device 26 so as to guide the driver to an appropriate route.

The power supply line of the navigation device 20 is connected to the battery via an ACC (accessory switch) from a battery. The power is supplied to the navigation device 20 when the ACC is ON, and the power is supplied when the ACC is OFF. Is shut off. When the driver knows that the vehicle is to be rotated during the ACC-OFF, the control circuit 29 performs a correction pattern registration process for registering the location in advance and a location registered in the correction pattern registration process. When the vehicle arrives, the traveling direction correction processing for automatically correcting the traveling direction based on the registered correction pattern is performed.

First, a correction pattern registration process is shown in a flowchart of FIG. 2, and an example of a registration screen displayed on the display device 26 in the correction pattern registration process will be described with reference to FIG. In S110 of FIG. 2, the operation switch group 22, the remote controller 23a via the remote controller sensor 23b, and the microphone 2
When a menu screen display instruction is input by any of the voice inputs from No. 8, the menu screen shown in FIG. 3A is displayed. This menu has various functions (processing)
There is a menu button to select. However, in the figure, only the names of buttons necessary for explanation are described. Hereinafter, “the button is selected” refers to the operation switch group 2
2. A case where a selection instruction is input to the control circuit 29 from either the remote controller 23a via the remote controller sensor 23b or a voice input from the microphone 28.

In S120, when the azimuth correction data input button shown in FIG. 3A is selected from such buttons, a data input screen is displayed. As shown in FIG. 3B, the data input screen includes a map 31 around the current position in the center of the screen, and a detail button 3 at the bottom of the screen.
3, a left rotation button 34, a right rotation button 35, a set button 36, and a wide area button 37. These buttons are selectable. When the detail button 33 is selected, a more detailed map is displayed as the map 31. When the wide area button 37 is selected, a map of a wider area is displayed as the map 31.

At S130, the current position of the vehicle and the current approach direction are displayed on this screen. That is, FIG.
The current position mark 32 is displayed on the map as shown in FIG.
The current position mark 32 is displayed on the map 31 around the current position calculated by the above-described current position calculation process,
The current traveling direction of the vehicle is indicated by an arrow. The direction of the arrow rotates counterclockwise when the left rotation button 34 is selected, and rotates clockwise when the right arrow button 35 is selected.

At S140, a correction direction is input.
The corrected azimuth is a traveling azimuth at the time of exit. The input of the correction direction is performed by selecting the left rotation button 34 or the right rotation button 35. That is, the direction of the arrow is adjusted to the traveling direction at the time of exit with reference to the map 31. Then, when the arrow points in the correct exit direction, the set button 36 is selected. If the set button 36 is selected, the next S1
Move to 50.

In S150, the current position (correction point) as correction point information, the current direction (entering direction) as approach direction information, and the correction direction (traveling direction) as traveling direction information are registered in the database. Then, in S160, the display returns to the normal map screen display.

In this way, it is possible to register the position information requiring correction, the approach direction to the position, and the corrected traveling direction. The traveling direction correction processing for correcting the traveling direction based on the information registered in the database as described above will now be described.

The traveling azimuth correction processing is shown in the flowchart of FIG. In step S210 of FIG. 4A, the current position calculated by the current position calculation process is displayed as in a general navigation device. In subsequent S220, it is determined whether or not the current position matches the correction point registered in the database in S150. If they do not match (S2
20: NO), the process proceeds to S210, and if they match (S220: YES), the process proceeds to S230.

In S230, the current vehicle direction obtained by the current position calculation process is obtained. In S240, the current position and current direction are compared with the correction point and approach direction registered in the database, and the corresponding corrected traveling direction is read. In S250, the corrected traveling direction is stored in a memory (RAM). This RA
M is backed up by a battery when power is not supplied to the navigation device 20.

Then, when the power is turned on after the power supply to the navigation device 20 is stopped because the ACC is turned off or the like, the processing shown in FIG. 4B is performed. In S270 of FIG. 4B, the corrected heading is read from the RAM, and the heading used for navigation is changed to this heading. Then, in S280, a normal map screen display is performed.

By doing so, the ACC becomes O at the correction point.
When the direction of the own vehicle is changed by a turntable or the like while the power is supplied to the navigation device 20 while the FF is turned off, the traveling direction can be corrected. Therefore, when the map is displayed in S280, the map and the current position mark can be displayed based on the corrected traveling direction, and appropriate guidance and the like can be performed based on the traveling direction. This process is always executed regardless of the presence or absence of the route guidance, and an appropriate heading can be obtained at the registered point.

Therefore, if it is known that the direction changes in the ACC OFF state in advance in a parking lot where the user enters and exits from the same direction each time, if the pattern to be changed is registered in advance, the own vehicle can be registered. When the vehicle arrives at the registration point, the bearing is automatically corrected, and the bearing deviation can be eliminated.

In the above embodiment, the map around the current position is displayed in S120. However, when the destination is set based on codes such as an address, a postal code, a telephone number, etc. May be input in the same manner as described above. Further, the traveling direction is set by selecting the left rotation button 34 or the right rotation button 35, but the approach direction may be set on the map. [Second embodiment] In the first embodiment, by registering a place requiring correction in advance, the ACC
It is possible to accurately correct the direction of the own vehicle at the time of ON. However, it is necessary for the user to register the traveling direction after correction in advance, and when the rotation angle is not constant or when there are multiple exits in different directions in a parking lot or the like, this method is completely used. May not be.

Therefore, in the second embodiment, the navigation device 20 as the in-vehicle processing device is provided with a gyroscope 21b for detecting a change in the direction of the own vehicle.
Electricity is also supplied during FF to detect that the vehicle has been rotated from the outside. In this way, to supply power to the own-vehicle direction sensor when the ACC is turned off, the power supply portion of the navigation device 20 and the gyroscope 21 of the position detector are used.
FIG. 6 shows the configuration shown in FIG. This configuration will be described in comparison with the configuration of the power supply portion and the position detector portion of the conventional navigation device shown in FIG.

As shown in FIG. 5, the power supply section of the conventional navigation device is configured such that the power supply line of the navigation device 20 is connected to + B via a switch 44. This + B is connected to a battery (not shown) and is a power supply line for operating the navigation device 20. The switch 44 is turned on by the operation control unit 42 when the ACC is on, and is turned off when the ACC is off. Therefore, power is supplied to the power supply line of the navigation device 20 when the ACC is ON, and is not supplied when the ACC is OFF. Therefore, even if there is a change in the direction of the own vehicle when the ACC is OFF, the change cannot be detected.

On the other hand, the power supply unit of the navigation device according to the present embodiment is configured as shown in FIG. That is,
The power is supplied directly from the battery to the gyroscope 21b as the detecting unit without passing through the switch 44, and the components of the navigation device 20 other than the gyroscope 21b as the processing unit are switched to the switch 44 as before. So that power is supplied via By doing so, the gyroscope 21b can continuously output the sensor signal. In addition, since power is not supplied to the parts other than the gyroscope 21b when the ACC is turned off, a large amount of power is consumed when the ACC is turned off, so that the risk that the battery will run down and the starter will not turn and the engine will not run can be reduced. Can be.

In the configuration shown in FIG. 6, the operation control section 42 obtains the rotation angle from the sensor signal from the gyroscope 21b and stores it by the processing shown in FIG. That is,
In S310 of FIG. 7, the sensor signal output of the gyroscope 21b is captured. As the sensor signal output of the gyroscope 21b, a voltage corresponding to the angular velocity of rotation is output. Therefore, when rotating from the standstill, the output of the sensor signal becomes V /
It changes in units of deg / sec. In S320, the sensor signal output is compared with a reference voltage and integrated. Then, a rotation angle is obtained from the integrated value. Such processing is repeatedly performed, and this rotation angle is output to the CPU as the own vehicle direction information.

Then, when the ACC is turned on, the CPU of the control circuit 29 obtains the own vehicle direction information from the operation control unit 42 and corrects the current own vehicle direction (progress direction).
Then, the display shifts to a normal map screen display. In this way, even when the own vehicle is rotated during the ACC OFF period, a correct heading can be immediately obtained at the time of ACC ON.

In order to further reduce the current consumption while the ACC is off, the operation control unit 42 may be shifted to the sleep mode while the ACC is off. In this case, for example, the configuration shown in FIG. That is, a change detection unit 4 that receives a sensor signal output from the gyroscope 21b and detects a change in the sensor signal.
The change detecting unit 46 outputs a wake-up signal to the operation control unit 42 when detecting a change in the sensor signal.

After inputting the wake-up signal, the operation control section 42 wakes up and then captures and records the sensor signal as described above. Then, when there is no change in the sensor signal for a certain period, the mode shifts to the sleep mode again. Then, after ACCON, the operation control unit 42
The vehicle direction information is transmitted to the PU, and the CPU detects that the vehicle direction (the traveling direction) has changed.

By doing so, the sleep mode is set while the operation control unit 42 does not change the sensor signal, and power consumption can be reduced. In this case, ACC
The operation control unit 42 has grasped the own vehicle direction information at the time of OFF, but the CPU may grasp it. That is,
When there is a change in the direction of the own vehicle when the ACC is turned off, the change detection unit 46 detects a change in the sensor signal, wakes up the operation control unit 42, and the wake-up operation control unit 42 turns on the switch 44. . Then, the CPU of the control circuit 29 detects the sensor signal from the gyroscope 21b, obtains the rotation angle, and stores it. When there is no change in the direction of the own vehicle, the operation control unit 42 turns off the switch 44 and shifts to the sleep mode again.
That is, in this case, the operation control unit 42 supplies power to the CPU when the direction of the own vehicle changes, and the CPU grasps the direction of the own vehicle. Therefore, after ACC ON
Since the information acquired last time has been obtained, the change in the own vehicle direction (traveling direction) has already been detected. Note that the rotation angle obtained by the CPU is stored in a backup memory (not shown), and is held even while the CPU is turned off.

In the above embodiment, the gyroscope 2
Although the change in the direction of the own vehicle is detected by 1b, the change is not limited to the gyroscope but may be any as long as the change in the direction of the own vehicle can be detected. [Third Embodiment] A navigation device as an in-vehicle processing device according to a third embodiment has a configuration in which a camera 50 is further added to the configuration of the navigation device 20 of the first embodiment shown in FIG. 1 as shown in FIG. It is. This camera 50 is similar to that shown in FIG.
It is a camera for a back monitor for photographing the rear of the vehicle as shown in FIG.

The rotation of the vehicle body is detected using the image of the camera 50. Basically ACC OFF of vehicle
Image immediately before or immediately after the vehicle and immediately after the vehicle starts (ACC
It is determined that the vehicle body has been rotated if the matching with the image (immediately after ON) is performed and the matching ratio does not satisfy a predetermined threshold value.

As a specific configuration, as shown in FIG. 9, the camera 50 is connected to the display device 26, and the display device 26 is an image storage memory for storing an image input from the camera 50. One memory 26a and the second memory 26b are provided. The display device 26 includes a camera 50.
An image processing circuit (not shown) is provided for taking in an image from these memories into these memories, matching the contents stored in these memories, and transmitting the result to the navigation body (control circuit 29).

The image processing circuit stores an image obtained from the camera 50 during the operation of the engine in the first memory 26a at regular intervals. Then, even after the engine is stopped, the image stored in the first memory 26a is backed up. On the other hand, the second memory 2
6b stores an image obtained from the camera 50 immediately after starting the engine. Then, the image processing circuit includes the first memory 2
The image stored in the second memory 26b is matched with the image stored in the second memory 26b. If the matching ratio between the images in the first memory 26a and the second memory 26b does not satisfy the predetermined threshold value, a command for notifying that the vehicle body has rotated is issued to the control circuit 29 of the navigation body by communication. I do. When receiving this command, the control circuit 29 determines that the vehicle body has rotated.

In this case, the control circuit 29 resets the traveling direction to the direction rotated by 180 degrees from the current direction. For example, as shown in FIG. 10A, when the image before rotation and the image after rotation are different, the azimuth rotated by 180 degrees is reset. In this manner, in a general parking lot where the vehicle is rotated 180 degrees when the engine is stopped, a correct traveling direction can be obtained when the engine is started.

The camera 50 may be a normal CCD camera or a special camera such as an infrared camera in consideration of day and night lighting conditions. In addition, the first memory 26a and the second memory 26b are backed up. However, even if power is not supplied, such as an EEPROM, if a rewritable memory capable of retaining data is used, the power of the memory can be reduced. No need to backup.

Further, regarding the image matching method,
An existing image processing method may be used. As an example, template matching may be performed using one image as a template. Then, the first memory 26a, the second memory 26b, and the image processing circuit that store the image,
Although provided in the display device 26, it may be provided in the camera 50, or the control circuit 29 may perform its function. When these are provided in portions other than the control circuit 29, when the image matching ratio does not satisfy the predetermined threshold value (when the rotation of the vehicle is detected), the control circuit 2
9 may be notified that the vehicle body has rotated.

After receiving the information that the vehicle body has been rotated, the control circuit 29 may rotate the traveling azimuth information of the vehicle body by 180 degrees and store the current position at that time in a log. By doing so, it is also possible to acquire the position information at which the vehicle body rotates 180 degrees. When the rotation of the vehicle is notified again at the position stored as the log, it can be confirmed that the notification is appropriate.

In the above embodiment, the camera 50 is a camera for a back monitor. However, the camera 50 may be mounted at any position on the vehicle as long as the image changes when the vehicle body is rotated. , And may be installed so as to photograph in any direction. Further, a plurality of cameras 50 may be provided. For example, if two cameras are installed on the left and right or front and rear of the vehicle in opposite directions, not only is the image of each camera the same before and after the engine is stopped, but also whether the images of the two cameras are interchanged is detected. This makes it possible to detect whether or not the camera has been rotated by the difference between the mounting angles of the two cameras. For example, as shown on the left side of FIG. 10 (b), the front and rear directions of the vehicle are photographed by two cameras, and before and after the engine stops as shown on the right side of FIG. 10 (b). Once the image at the time of starting is obtained, by pattern-matching each of these four images,
It can be seen that the images before and after have been switched. That is, the front image before the engine stops and the rear image at the start of the engine match, and the rear image before the engine stops and the front image at the start of the engine match. Therefore, it can be determined that the vehicle has been rotated 180 degrees.

Further, as shown in FIG. 10C, the camera 50 may be installed on a pan table so as to be rotatable. By doing so, the camera can be rotated 360 degrees by the pan table, and when the engine is started (AC
At the time of CON), the camera 50 is rotated to a position where the image before the engine is stopped coincides with the image, and the rotation angle of the vehicle can be detected from the rotation angle. For example, FIG.
As shown on the right side of FIG.
N), the camera 50 is rotated to capture an image, and
If the image matches the image before the engine is stopped when rotated by 0 degrees, it can be detected that the image has been rotated by 180 degrees. Thus, the rotation angle of the vehicle body can be detected by one camera. In this case, the rotation angle of the pan table may be calculated and controlled by the control circuit 29, or the rotation angle of the pan table may be detected.

FIG. 10 shows an example of the installation of the camera 50 described above.
(A), (b), and (c), the configuration and processing content become complicated. Therefore, it is preferable to determine which of these configurations is to be adopted depending on the required accuracy and situation. In addition, at the timing before the ACC OFF, an image is captured (stored) from the camera 50 in the following three ways, for example. In the following description, these will be referred to as case 1, case 2, and case 3, respectively.

1) Image is taken at regular intervals. 2) Image is taken when vehicle speed reaches 0 km / h. 3) Image is taken when ACC is turned off. In case 1 or case 2, the last image acquired is AC.
It will be automatically backed up after C OFF. On the other hand, in case 3, since the image is captured after the ACC is turned off, the power is maintained until the image is captured after the ACC is detected.

With the above configuration, the ACC OF
Even when the car turns during parking or the like by a turntable in a parking lot during F, the rotation of the vehicle body can be detected when the ACC is turned on. Therefore, the navigation does not provide erroneous guidance until the position or direction of the vehicle is corrected by GPS, map matching, or the like, and navigation can be performed based on the correct traveling direction. [Fourth Embodiment] As shown in FIG. 11, a navigation device as a vehicle-mounted processing device according to a fourth embodiment is different from the navigation device 20 of the first embodiment shown in FIG. An equipped first distance sensor 60a;
This is a configuration in which a second distance sensor 60b provided behind the vehicle is added. The first distance sensor 60a is an ultrasonic sensor for detecting the distance to the nearest obstacle in front of the vehicle within the range of the vehicle width, and the second distance sensor 60b is the rear of the vehicle closest to the vehicle within the range of the vehicle width. Is an ultrasonic sensor for detecting the distance to the obstacle. The detection distance is, for example, about 2 m from the sensor position. As these sensors 60a and 60b, for example, an ultrasonic sensor already mounted on the vehicle for preventing collision may be used.

The navigation device 20 receives distance signals from the first distance sensor 60a and the second distance sensor 60b, and based on the respective distance signals, determines the distance between the vehicle and the front obstacle and the distance between the vehicle and the rear obstacle. Are stored in the battery-backed RAM of the control circuit 29. In addition, the current position is calculated from the position detector 21 and the wheel sensor, the steering angle, and the like as travel locus data,
Record as a running locus. These processes are performed at predetermined time intervals (for example, every second) during the operation of the engine (FIG. 1).
2 corresponds to the process of S470).

The power supply to the navigation device 20 is cut off when the engine is stopped. On the other hand, when the engine is started, power supply to the navigation device 20 is started, and the navigation device 20 executes a rotation determination process shown in FIG. In S410 of FIG. 12, distance signals from the first distance sensor 60a and the second distance sensor 60b are input, and the distance between the vehicle and the front obstacle and the distance between the vehicle and the rear obstacle are determined based on the respective distance signals. Ask for.

In S420, the distance between the vehicle and the obstacle immediately before the power is turned off and stored in the battery-backed RAM of the control circuit 29 is a value (for example, 1 m) indicating that there is an obstacle. The distance to the rear obstacle is a value indicating that there is no obstacle (for example, a value indicating undetected Δm), and the distance between the vehicle and the front obstacle detected in S410 is no obstacle. (For example, Δm which is a value indicating no detection), and whether the distance between the vehicle and the rear obstacle detected in S410 is a value (for example, 1 m) indicating that there is an obstacle, It is determined whether or not the obstacle existing only in front is only behind, and if so (S420: YES), the process proceeds to S430, and if not (S420: NO), the process proceeds to S470.

In S430, the above-described travel locus data stored in the battery-backed RAM of the control circuit 29 is read out. In the subsequent S440, it is determined whether the vehicle has traveled straight from the travel locus data a predetermined distance (for example, 5 m) or more immediately before power-off. Determine whether or not. If the vehicle has gone straight ahead for a certain distance (S440: YES), the process proceeds to S450, and if it has not gone straight for a certain distance (S440: NO), S470.
Move to.

In S450, it is determined whether the current position detected immediately before the power is turned off in the travel locus data read in S430 is a position on the road data read from the external storage device 25, that is, a position on the road. Is determined. If the position is on a road (S45
0: YES) The process proceeds to S470, and if not on a road (S450: NO), the process proceeds to S460.

In S460, the traveling direction (vehicle direction) used for the processing of the navigation system is rotated by 180 °. As described above, the obstacle existing only in front just before the power is turned off becomes only the rear when the power is turned on (S420: YE).
S): Go straight ahead for a certain distance (for example, 5 m) immediately before power-off (S440: YES), and when the current position detected immediately before power-off is not a position on the road (S450: NO).
Next, the traveling direction (traveling direction) is corrected (S460).
Therefore, in the navigation processing executed in parallel, the traveling direction corrected by the processing of S460 can be used. Therefore, the map and the current position mark can be displayed correctly, and appropriate guidance based on the correct heading can be performed.

In S470, the travel locus and the distance to the obstacle are stored at predetermined time intervals as described above. In this embodiment, it is determined in S440 whether or not the traveling locus immediately before the power is turned off is straight ahead. In S440, it is further determined whether or not the traveling locus immediately after turning on the power is straight ahead. The process proceeds to S450, and if the vehicle is not going straight, S470
You may make it transfer to. In other words, the vehicle travels a certain distance even when leaving the parking lot.
Correction is made only when m) is advanced. In this way, false recognition in the case of parallel parking can be reduced.

The possibility of erroneous recognition due to parallel parking can be reduced by the processing of S470, S440 and S450. That is, in the case of parallel parking, since the driver turns the steering wheel to park at the end of the road or turns back and forth, the traveling trajectory immediately before stopping the engine, that is, immediately before turning off the power to the navigation device 20 is In many cases, the straight line is not longer than a certain distance (for example, 5 m). On the other hand, in such a parking lot having a mechanism in which the vehicle is rotated when the engine is stopped, the vehicle is generally driven straight ahead to enter the vehicle in order to put the vehicle in a predetermined container. Furthermore, when the position immediately before the engine stop is on the road, there is a low possibility that the vehicle is parked in the parking lot. Therefore, the possibility of erroneous recognition due to parallel parking due to the processing of S470, S440, and S450 can be reduced. [Others] The configurations of the above-described first to third embodiments can be arbitrarily combined and realized. For example, the correction result of the first embodiment may be used for a point where a correction pattern is registered, and the correction result of the second or third embodiment may be used for other locations.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a navigation device common to first to third embodiments.

FIG. 2 is a flowchart illustrating a correction pattern registration process performed by a control circuit according to the first embodiment.

FIG. 3 is an explanatory diagram showing a screen displayed on a display device by the correction pattern registration process of FIG. 2;

FIG. 4 is a flowchart illustrating a traveling azimuth correction process executed by a control circuit according to the first embodiment.

FIG. 5 is a block diagram showing a power supply path of a conventional navigation device.

FIG. 6 is a block diagram illustrating a power supply path of the navigation device according to the second embodiment.

FIG. 7 is a block diagram showing another form of the power supply path of the navigation device in the second embodiment.

FIG. 8 is a flowchart illustrating a traveling azimuth correction process executed by a control circuit according to the second embodiment.

FIG. 9 is a block diagram illustrating a configuration of a navigation device according to a third embodiment.

FIG. 10 is a diagram illustrating a mounting position and a mounting direction of a camera included in the configuration of FIG. 9 to a vehicle, and a detected image.

FIG. 11 is a block diagram illustrating a configuration of a navigation device according to a fourth embodiment.

FIG. 12 is a flowchart illustrating a heading correction process executed by a control circuit according to a fourth embodiment.

[Explanation of symbols]

Reference Signs List 20 navigation device 21 position detector 21a GPS receiver 21b gyroscope 21c acceleration sensor 22 operation switch group 23a remote control 23b remote control sensor 24 mobile phone connection device 25 external storage device 26 display device 26a ... First memory 26b ... Second memory 27 ... Speaker 28 ... Microphone 29 ... Control circuit 30 ... Mobile phone 31 ... Map 32 ... Current position mark 33 ... Detailed button 34 ... Left rotation button 35 ... Right rotation button 35 ... Right arrow button 36 ... set button 37 ... wide area button 42 ... operation control part 44 ... switch 46 ... change detection part 50 ... camera 60a ... first distance sensor 60b ... second distance sensor

Continued on the front page (51) Int.Cl. ⁷ Identification FI FI Theme Court II (Reference) G09B 29/10 G09B 29/10 A // G01S 5/14 G01S 5/14 (72) Inventor Shinji Kashiwada Kariya, Aichi Prefecture 1-1-1 Showa-cho F-term in Denso Co., Ltd. (Reference) 2C032 HB02 HB05 HB22 HB25 HC02 HC08 HC14 HC15 HC16 HC27 HD03 2F029 AA02 AB01 AB07 AC02 AC04 AC14 AC18 AD01 5B057 AA16 BA02 DA07 DB02 DC08 DC33 DC01 BBA BB180A BB15 CC04 CC11 CC12 FF04 FF05 FF07 FF22 FF25 FF27 FF32 5J062 AA05 BB01 FF04 HH05

Claims (13)

[Claims] An in-vehicle processing device for performing a predetermined process based on the traveling direction of a vehicle is provided. A correction pattern for correcting the traveling direction of the vehicle is registered in advance after power is supplied to the in-vehicle processing device. In a case where the vehicle is to perform a correction using the registered correction pattern, the traveling direction is corrected using the correction pattern after turning on the power to the in-vehicle processing device. In-vehicle processing unit. 2. The on-vehicle processing device according to claim 1, wherein the correction pattern includes correction point information indicating a point to be corrected and traveling direction information indicating a corrected traveling direction after the power is turned on. An on-vehicle processor which corrects the heading based on the heading information after turning on the power at the correction point. 3. The on-vehicle processing device according to claim 2, wherein the correction pattern further includes approach azimuth information indicating an approach azimuth to the correction point, and enters the correction point with the approach azimuth; An on-vehicle processing device that corrects the traveling direction based on the traveling direction information after power-on at the correction point. 4. An in-vehicle processing device for performing a predetermined process based on the traveling direction of the own vehicle, wherein the power supply is not supplied to a processing unit for performing the predetermined process. Power is supplied to the detection unit that detects a change in the traveling direction to detect a change in the traveling direction, and after turning on the power to the processing unit, based on the change in the traveling direction detected by the detecting unit. An in-vehicle processing device, wherein the traveling direction of the vehicle is corrected. 5. An in-vehicle processing device for performing a predetermined process based on the traveling direction of the own vehicle, wherein a situation around the own vehicle immediately before power-off of the in-vehicle processing device is stored, and thereafter, power is turned on. Obtains the situation around the vehicle after, and compares it with the situation around the vehicle just before power-off, which is stored, to determine whether the vehicle has rotated, and determines that the vehicle has rotated The vehicle-mounted processing device corrects the traveling azimuth when performed. 6. The on-vehicle processing device according to claim 5, further comprising detecting the rotation angle from the result of the comparison, and correcting the traveling direction using the detected rotation angle. Processing equipment. 7. The on-vehicle processing device according to claim 5, wherein the situation around the own vehicle is captured as an image. 8. The on-vehicle processing device according to claim 5, wherein the situation around the own vehicle is regarded as a position or a distance of an obstacle from the vehicle. 9. The on-vehicle processing device according to claim 5, wherein the situation immediately before the power supply is cut off is such that an obstacle is detected in front of the vehicle but an obstacle is detected behind the vehicle. Is not detected, and the situation around the own vehicle after the power is turned on is a situation where no obstacle is detected in front of the vehicle but an obstacle is detected behind the vehicle. A vehicle-mounted processing device, which determines that the vehicle has rotated, and performs 180 ° correction as the correction of the traveling direction. 10. The on-vehicle processing device according to claim 1, wherein a running locus of the vehicle immediately before power-off of the on-vehicle processing device is stored, and the stored running locus is straight ahead. If not, the correction is not performed. 11. The on-vehicle processing device according to claim 1, wherein the correction is not performed if the running locus immediately after the power is turned on is not straight. 12. The on-vehicle processing device according to claim 1, wherein a vehicle position immediately before power-off is stored, and said stored vehicle position is a position corresponding to a road. Is a vehicle-mounted processor that does not perform the correction. 13. The on-vehicle processing device according to claim 1, wherein the on-vehicle processing device is a navigation device.