JP2005164590A - Navigation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To calculate a speed and a distance with high accuracy, even when integration errors and accumulation errors are made in calculation of velocity data and a movement distance, and when a drift is generated in the output value of an acceleration sensor. <P>SOLUTION: This navigation device is provided with a sensor 1 for detecting acceleration in the longitudinal direction of a vehicle and sensors 2 and 3 for outputting predetermined data, corresponding to the positional/directional change of the vehicle. Actual acceleration is found by performing predetermined computing on the acceleration data; first speed data matching a vehicle speed is outputted, based on output data from the sensors 2 and 3; positional/directional change quantity per unit time of the vehicle is found, based on the actual acceleration or the output data from the sensors 2 and 3; a movement distance of the vehicle is calculated, based on change quantity data, second speed data matching the vehicle speed are found based on the actual acceleration; and multiplication of the the second speed data by a gain is carried out, while the gain value is updated based on the first speed data and the second speed data, when a vehicle shifts in a uniform velocity movement condition. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a technical field of a navigation device that supports the operation of a moving body by indicating and displaying the current position or traveling direction of a moving body such as a vehicle, and more specifically, in addition to an acceleration sensor that detects acceleration. A distance sensor that detects the travel distance of the vehicle based on the number of vehicle speed pulses per rotation of the axle of the vehicle, a GPS (Global Positioning System) receiver, or an angular velocity sensor, and the travel distance of the moving body such as the vehicle Further, the present invention relates to a technical field of a navigation device for detecting speed.

  Currently, for example, as a positioning device for various moving objects such as automobiles, airplanes, ships, etc., a position mark indicating the position of the moving object is superimposed on the point on the map including the point where the moving object currently exists There is known a so-called navigation device that displays information and guides a route to a destination based on the displayed information. Among these navigation devices, for example, in-vehicle navigation devices mounted on vehicles and the like are roughly classified into a self-supporting navigation device and a GPS (Global Positioning System) type navigation device.

  The former calculates the moving distance of the moving body by a speed sensor etc. provided in the moving body, adds it to the reference point to calculate the current position, and based on the calculated current position, the position mark is displayed on the display screen. And the corresponding map is displayed.

  The latter receives positioning radio waves from a plurality of GPS satellites launched in outer space, calculates the current position of the moving object by the three-dimensional survey method or the two-dimensional survey method based on the reception result, and calculates Based on the current position, the position mark and the corresponding map are displayed on the display screen.

  Among these, the latter apparatus using GPS positioning has the advantage that it is not necessary to set the position of the own vehicle on the map in advance, and the positioning error of the own vehicle position is extremely small and high reliability can be obtained.

  However, GPS positioning has the disadvantage that it cannot be measured in the shadows of buildings, tunnels, forests, etc. In addition, self-supporting positioning is also affected by integration errors, cumulative errors, the effects of temperature changes, or conditions inside and outside the vehicle. The detected data is not always accurate because it is easy to receive, and each positioning is not always perfect.

  Therefore, recently, a hybrid type on-vehicle navigation device configured to use both GPS-type positioning and self-supporting positioning to compensate for respective drawbacks is becoming common.

  This hybrid-type in-vehicle navigation device is a device that can display the driving position with high accuracy, but as a self-supporting positioning, positioning using a sensor installed in the vehicle in advance such as a vehicle speed sensor or a back sensor is adopted. In this case, it is necessary to electrically connect the navigation device and the sensor, and there is a problem that the connection work becomes complicated.

  Thus, a hybrid type in-vehicle navigation device that does not require electrical connection with a sensor installed in a vehicle has been proposed that uses an acceleration sensor. This device includes an acceleration sensor made of, for example, a semiconductor chip in a navigation device. After the navigation device is installed in a vehicle, an output value from the acceleration sensor is acquired and acceleration is calculated based on the output value. The speed change amount is calculated by integrating the acceleration and accumulated in the speed calculated last time. Furthermore, the moving distance change amount is calculated by integrating the speed and accumulated in the moving distance calculated last time.

  In the apparatus as described above, the acceleration sensor is generally adjusted to show a predetermined output value (hereinafter referred to as “offset value”) even when the acceleration should be “0”. Yes. Then, during acceleration / deceleration of the vehicle, the output value of the acceleration sensor increases or decreases depending on the direction of acceleration of the vehicle with the predetermined output value as a reference. The increase or decrease is adjusted to be proportional to the magnitude of acceleration of the vehicle.

  Therefore, when obtaining the acceleration, a process of subtracting the offset value from the output value of the acceleration sensor is performed.

  In addition, in order to convert the output value of the acceleration sensor into an amount actually handled by the navigation device, a value obtained by subtracting the offset value from the output value of the acceleration sensor is multiplied by a predetermined gain to obtain the actual acceleration. I was trying to be.

  However, since the output value of the acceleration sensor fluctuates when the device is started, during long-time (long distance) non-stop running, or when the temperature changes, a drift occurs in the value that should be originally obtained, and the drift Therefore, even if the predetermined offset value is subtracted from the output value of the acceleration sensor when the vehicle is stopped, the value does not become “0”.

  As a result, there is a problem that even if the vehicle is stopped, the own vehicle position is moved little by little, resulting in a distance error.

  Similarly, the gain is calculated because it cannot cope with the drift of the output value of the acceleration sensor at the time of starting the device, the difference in variation of the device mounting angle and the vehicle inclination angle, or the temperature change. There was a problem that errors occurred in speed and distance.

  Similarly, the speed data calculated based on the actual acceleration by the change amount calculating means is integrated with the integration error generated when the actual acceleration is integrated over time or the speed data calculated last time. There is a problem such as a cumulative error that occurs when accumulating the obtained speed data change amount.

  Similarly, regarding the moving distance of the moving body, the moving distance obtained by integrating the actual acceleration twice with the integration error generated when the actual acceleration is integrated twice in time or the previously calculated moving distance. There was a problem such as a cumulative error that occurred when accumulating the amount of change.

  The present invention has been made in view of such a problem, and when the speed data and the movement distance are calculated, integration and accumulation errors occur, or the output value of the acceleration sensor has drifted due to a plurality of factors. Even in this case, it is an object to provide a navigation device capable of calculating the speed and distance with high accuracy.

  In order to solve the above-mentioned problem, the invention according to claim 1 corresponds to an acceleration sensor that detects acceleration in the front-rear direction of a moving body and outputs acceleration data, and corresponds to a change in position or direction of the moving body. Corresponding to the speed of the moving body based on the output data of the displacement detecting means for outputting predetermined data, the actual acceleration calculating means for calculating the actual acceleration by performing a predetermined calculation on the acceleration data, and the output data of the displacement detecting means Speed calculating means for outputting the first speed data, and at least one of a positional change amount or a direction change amount of the moving body per unit time based on the actual acceleration or the output data of the displacement detecting means. A change amount calculating means for calculating a change amount and outputting change amount data; a moving distance calculating means for calculating a moving distance of the moving body based on the change amount data; State detecting means for detecting a displacement state of the moving body based on acceleration and output data of the displacement detecting means, and the change amount calculating means corresponds to the speed of the moving body based on the actual acceleration. The second acceleration data is calculated, and the actual acceleration calculation means performs an operation of multiplying the gain as the calculation, and the first velocity data and the first velocity data when the displacement state of the moving body is a constant velocity movement state. The gain value is updated based on the second speed data.

  In order to solve the above problems, the invention according to claim 5 is an acceleration sensor that detects acceleration in the front-rear direction of the moving body and outputs acceleration data, and corresponds to a change in position or direction of the moving body. Displacement detecting means for outputting predetermined data, real acceleration calculating means for calculating actual acceleration by performing predetermined calculation on the acceleration data, and calculating acceleration of the moving body based on output data of the displacement detecting means A displacement detection acceleration calculating means that calculates the change amount of at least one of the position change amount and the direction change amount per unit time of the moving body based on the actual acceleration or the output data of the displacement detection means. Change amount calculation means for outputting amount data; movement distance calculation means for calculating a movement distance of the moving body based on the change amount data; State detecting means for detecting the displacement state of the moving body based on output data of the displacement detecting means, and the actual acceleration calculating means performs an operation of multiplying the gain correction coefficient as the operation and The gain correction coefficient value is updated based on the actual acceleration when the displacement state is a constant acceleration moving state and the calculated acceleration of the displacement detection acceleration calculating means.

  In order to solve the above-described problem, an invention according to claim 10 corresponds to an acceleration sensor that detects acceleration in the front-rear direction of a moving body and outputs acceleration data, and corresponds to a change in position or direction of the moving body. Displacement detecting means for outputting predetermined data, real acceleration calculating means for calculating actual acceleration by performing predetermined calculation on acceleration data output from the acceleration sensor, and data from the actual acceleration or displacement detecting means. A change amount calculating means for calculating at least one of a position change amount or a direction change amount per unit time of the moving body and outputting predetermined change amount data, and a change amount output by the change amount calculating means Moving distance calculating means for calculating the moving distance of the moving body based on the data, and the actual acceleration calculating means has different parameters for deceleration and acceleration. Configured to perform the calculation using the data.

  Next, preferred embodiments of the present invention will be described with reference to the drawings. In each of the following embodiments, the case where the present invention is applied to an in-vehicle navigation device in an automobile or the like will be described.

(First embodiment)
First, a first embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a block diagram showing the overall configuration of the in-vehicle navigation device of the present embodiment.

  As shown in FIG. 1, an in-vehicle navigation apparatus S according to the present embodiment includes an acceleration sensor 1 that detects acceleration at the time of start or stop and forward or backward and acceleration or deceleration of a vehicle and outputs acceleration data, for example, a vehicle The angular velocity sensor 2 as one of the displacement detecting means for detecting the angular velocity of the direction change and outputting the angular velocity data and relative azimuth data per unit time, for example, detecting the vehicle speed pulse generated with the rotation of the axle, Count the number of pulses per unit time. A travel distance sensor 3 corresponding to speed detection means as one of displacement detection means for detecting a travel distance per unit time based on the number of vehicle speed pulses per one revolution of the axle and outputting travel distance data, and GPS GPS positioning as one of the displacement detection means that outputs the GPS positioning data such as latitude, longitude, altitude, speed, etc. where the vehicle exists by receiving radio waves from the satellite and also outputs the absolute direction data of the traveling direction of the vehicle A GPS receiver 4 corresponding to the means is provided.

  Further, acceleration data, angular velocity data and relative orientation data, traveling distance data, GPS positioning data, and the like output from the acceleration sensor 1, the angular velocity sensor 2, the traveling distance sensor 3, and the GPS receiver 4 through the bus line 10. Based on the absolute azimuth data, a system controller 5 for controlling the entire navigation device, an input device 11 such as a remote control device for a user to input various data, and a DVD-ROM (Digital Video (or a map information) storing map information. Versatile) Disk-Read Only Memory) DVD-ROM drive 12a or CD-ROM drive 12b for reproducing a disk DK1 or CD-ROM (Compact Disk Read Only Memory) disk DK2 under the control of the system controller 5, respectively, and the system controller Various display data is displayed under the control of 5 A display unit 13 to be displayed, an acoustic reproduction unit 18 that reproduces and outputs various audio data under the control of the system controller 5, and a VICS receiver 22 that receives traffic information based on VICS (Vehicle Information and Communication System). I have.

  The system controller 5 includes an interface unit 6 that performs an interface operation with the various sensors, a CPU 7 that controls the entire system controller 5, and a ROM (Read Only Memory) 8 that stores a control program that controls the system controller 5. And a RAM 9 for storing various readable data such as route data set in advance by the user via the input device 11, an input device 11, a DVD-ROM drive 12a or a CD-ROM drive 12b, and a display unit. 13, the sound reproduction unit 18, and the VICS receiver 22 are connected via the bus line 10. The various sensors are connected via an interface 6 and a bus line 10.

  Further, the display unit 13 is capable of immediate display including a graphics controller 14 for controlling the entire display unit 13 based on control data sent from the CPU 7 via the bus line 10 and a memory such as a VRAM (Video RAM). A buffer memory 15 that temporarily stores image information and a display control unit 16 that controls display of a display 17 such as a liquid crystal display device or a CRT (Cathode Ray Tube) based on image data output from the graphics controller 14. It is prepared for.

  The sound reproduction unit 18 includes a D / A converter 19 that performs D / A conversion of an audio digital signal sent from the DVD-ROM drive 12a, the CD-ROM drive 12b, or the RAM 9 via the bus line 10, and a D / A An amplifier 20 that amplifies the audio analog signal output from the converter 19 and a speaker 21 that converts the amplified audio analog signal into audio and outputs the audio are configured.

  When the navigation device having the above-described configuration is activated, the system controller 5 first displays information for accessing map display information from the DVD-ROM disk DK1 or CD-ROM disk DK2, display information such as the vehicle position mark, and the like. Is stored in the RAM 9. Next, the output value of the acceleration sensor 1 is read, the acceleration of the vehicle is calculated based on the read output value, as will be described later, and the speed and travel distance of the vehicle are obtained from the calculated acceleration. Further, the output value of the angular velocity sensor 2 is read, relative azimuth data is calculated based on the read output value, and accumulated in the absolute azimuth data. Based on the travel distance data and the accumulated absolute bearing data of the traveling direction of the vehicle, the current position of the host vehicle is calculated, and the latitude, longitude, and altitude of the current position of the host vehicle are obtained. The map data corresponding to the vehicle position is read from the DVD-ROM disk DK1 or CD-ROM disk DK2 and sent to the graphics controller 14, and the map of the current location is displayed on the display 17. Also, speed data calculated based on latitude / longitude / altitude data, which is vehicle position information in the GPS positioning data sent from the GPS receiver 4 at any time, and absolute direction data of the traveling direction of the vehicle is used. Then, various data calculated from the output values of the acceleration sensor 1 and the angular velocity sensor 2 are corrected. And the update process of the map displayed according to the display position and direction of the own vehicle position mark according to the information is performed.

  As described above, the navigation device according to the present embodiment obtains the speed and travel distance of the vehicle using the output value of the acceleration sensor 1, and in order to increase the reliability of the acceleration sensor 1, Processing for correcting the output value of the acceleration sensor 1 using information is performed.

  Hereinafter, this correction process will be described. First, a specific method for calculating the acceleration and speed of the vehicle and the travel distance will be described based on the output value of the acceleration sensor 1 in the present embodiment. The processing described below corresponds to actual acceleration detection means, change amount detection means, and movement distance calculation means, and is performed in the system controller 5.

  In this embodiment, the acceleration sensor 1 detects the acceleration in the front-rear direction (traveling direction) of the vehicle, and the value obtained by subtracting the offset value from the output value of the acceleration sensor 1 during acceleration is positive. Thus, the acceleration sensor 1 will be described as being installed in a vehicle.

FIG. 2 is a block diagram showing means for processing an output value from the acceleration sensor 1 in the present embodiment. As shown in FIG. 2, the acceleration voltage detected from the acceleration sensor main body 1a through the detection circuit 1b corresponding to the input acceleration Acc is removed from the noise by the low-pass filter 1c, and then the 12-bit A / D. The converter 1d performs A / D conversion m times during the sampling period T. Then, using the following equation (1), the averaging processing means 1e performs averaging processing of the sampling period T period, and A / D conversion of the output value of the acceleration sensor 1 in the sampling period T period is performed every sampling 1T period. The average value a ′ _n of the data is calculated.

なお、ここで「ＬＳＢ」とは、上記Ａ／Ｄコンバータ１ｄの出力値の大きさを示す単位で、例えばｎビットのＡ／Ｄコンバータの場合、入力電圧レンジを２ⁿ等分して目盛りを打つことから、目盛りの間隔はＦＳ／２n（ＦＳは入力電圧レンジのフルスケール）となる。これは出力のＬＳＢ（最下位ビット）に対応する。入力電圧がＦＳ／２ⁿ変化すれば、出力はＬＳＢの１ビット分だけ変化する。即ち、１ＬＳＢ＝ＦＳ／２ⁿという大きさを単位に用いる。

Here, “LSB” is a unit indicating the magnitude of the output value of the A / D converter 1d. For example, in the case of an n-bit A / D converter, the input voltage range is divided into 2 ⁿ parts and scaled. Since it strikes, the scale interval is FS / 2n (FS is the full scale of the input voltage range). This corresponds to the LSB (least significant bit) of the output. If the input voltage changes by FS / 2 ⁿ , the output changes by one bit of LSB. That is, the unit of 1LSB = FS / 2 ⁿ is used.

Then, because it is pre-offset value is set to the output value of the acceleration sensor 1, subtracting the offset value from the average value a _'n, by further multiplying a predetermined gain and the gain correction coefficient, the acceleration of the vehicle calculate. For example, the acceleration A _n [m / s ² ] of the vehicle at the sampling time nT is
A _n = C _y · G _{k n -1} · G _{n -1} · (a ' _n -a _oe ) (2)
Cy: Output polarity of acceleration sensor
(= ± 1; +1: When installed so that the value obtained by subtracting the offset value from the output value of acceleration sensor 1 during acceleration is positive.
-1: When installed so that the value obtained by subtracting the offset value from the output value of acceleration sensor 1 during acceleration is negative
Gk _n-1 ： Acceleration / deceleration independent gain correction coefficient
(Use different values for acceleration and deceleration)
G _n-1 : acceleration sensor gain [m / s ² / LSB]
(It is not always constant and changes according to the usage situation)
a ′ _n : Acceleration sensor output [LSB]
a _oe : Offset amount [LSB]
(Varies depending on temperature change and device start-up)
Is required.

Here, assuming that the running state of the vehicle in the sampling period T is equal acceleration linear motion, the current vehicle speed change amount ΔV _n [km / h] at the sampling time nT is:
ΔVn = (3600/1000) · An · T (3)
n: Number of sampling (1,2,3,4,5 ...)
T: It is obtained from the sampling period. Therefore, the speed Vn [km / h] of the current vehicle at the sampling time nT is
V _n = ΔV _n + V _n-1 (4)
V _n-1 : previous vehicle speed [km / h]
It becomes. Further, assuming that the running state of the vehicle in the sampling period T is equal acceleration linear motion, the amount of change Δd _n [m] of the running distance of the vehicle at the sampling time nT is
Δd _n = 1/2 · A _n · T ² + (1000/3600) · V _n-1 · T (5)
It becomes. Therefore, the cumulative travel distance D _n [m] per unit time of the current vehicle at the sampling time nT is

と求められる。

Is required.

  By performing the above calculation mainly by the CPU 7, the speed and travel distance of the vehicle can be obtained based on the output value of the acceleration sensor 1, and in order to obtain these accurately, the above equation (2) Therefore, it is necessary to accurately calculate the acceleration.

However, since the offset value a _oe of the output value of the acceleration sensor 1 expressed by the above equation (2) fluctuates when the temperature changes, when the apparatus is started, or when the vehicle is running for a long time (long distance) without stopping, If a fixed value offset value a _oe shown in formula (2) causes an error in the acceleration a _n of the current vehicle of formula, velocity V _n of the current vehicle of the error equation (4) In addition, the cumulative travel distance D _n per unit time of the current vehicle in the equation (6) is also affected, resulting in an error.

In order to solve this problem, every time the vehicle stops, the average value a ′ _stop of the output value of the acceleration sensor 1 at that time is obtained, and the offset value a _oe is obtained as the average value a ′ of the output value at the time of stop. _Replace with _stop .

However, when the change in the offset value a _oe of the output value of the acceleration sensor 1 as described above occurs, the difference part (a ′ _n −a _oe ) according to the above equation (2) is “0” even when the vehicle is stopped. In other words, there was no accurate stop determination method for determining the state in which the vehicle stopped from the output value a ′ _n of the acceleration sensor 1.

Even when the vehicle stop determination is performed and the offset value a _oe is updated, the offset value a _oe of the output value of the acceleration sensor 1 is affected by the influence of the temperature change or the like until the next start of the vehicle. When it fluctuates, the vehicle speed and the cumulative travel distance per unit time are calculated by the above formulas (4) and (6) based on the difference part (a ′ _n −a _oe ) by the above formula (2). Thus, after the vehicle has started, the accumulated mileage per unit time is accumulated, so that the error cannot be removed.

Therefore, the present invention performs accurate vehicle stop determination and start determination even under a situation where the output value a ′ _n of the acceleration sensor 1 fluctuates as described above. Next, until the start of the vehicle is determined, the vehicle speed and the accumulated travel distance per unit time obtained from the output value a ′ _n of the acceleration sensor 1 are continuously cleared to zero.

  Hereinafter, embodiments of the present invention will be described. First, in the present embodiment, a specific example in which accurate stop determination and start determination of a vehicle will be described.

  In the present embodiment, when the output value of the acceleration sensor 1 or the output value of the angular velocity sensor 2 for a certain period is stable, or when it is detected that the GPS speed data is 0 [km / h] during GPS positioning. It is determined that the vehicle is stopped. On the other hand, the GPS speed data is not 0 [km / h] when the change amount of the output value of the acceleration sensor 1 or the output value of the angular velocity sensor 2 for a certain period after the stoppage of the vehicle is confirmed, or during GPS positioning. When this is detected, it is determined that the vehicle has started.

  Specifically, in the vehicle stop determination process, first, when the return of the output value of the acceleration sensor 1 is detected, or when the standard deviation of the output value of the acceleration sensor 1 is equal to or less than the predetermined value σ, or When the standard deviation of the output value of the angular velocity sensor 2 is equal to or less than the predetermined value s, or when the GPS velocity data becomes 0 [km / h] during GPS positioning, it is determined that the vehicle has stopped.

  Here, “shakeback” means that an acceleration that suddenly changes in the reverse direction from the traveling direction of the vehicle is applied to the vehicle immediately after the vehicle stops, and then the acceleration converges to zero while being damped in the longitudinal direction of the vehicle. This phenomenon occurs regardless of the type of vehicle or the location where the acceleration sensor is installed, so that it is possible to make an accurate vehicle stop determination by detecting this swingback. It can be done.

FIG. 4 shows a change example of the acceleration and speed of the vehicle when the swingback occurs. In FIG. 4, the horizontal axis represents time [seconds], the right vertical axis represents velocity [km / h], and the left vertical axis represents acceleration [× 10 ⁻² m / s ² ]. A line graph drawn with a solid line represents a measured value of the acceleration of the vehicle, and when negative acceleration is output, it corresponds to when the vehicle is decelerating (a state including a brake). Furthermore, a line graph drawn with a dotted line represents a measured value (a value converted from the number of vehicle speed pulses) of the traveling speed of the vehicle.

  As for the experimental conditions, for example, after driving at a constant speed of about 40 [km / h], the vehicle was decelerated and stopped at the same strength as a driver routinely performs.

  This swing back is caused by the following mechanism.

  When the vehicle is decelerating to stop, the inertial force that keeps running at the original speed is applied to the vehicle, so the position of the vehicle with respect to the wheels is on the front (traveling direction) side from the stop. . This inertial force becomes weaker as the speed change of the vehicle becomes smaller, and the restoring force of the suspension that tries to bring the vehicle closer to the wheel again becomes relatively stronger. Then, immediately after the wheels are completely stopped, the restoring force of the suspension exceeds the inertial force of the vehicle, and after the vehicle has stopped temporarily, the vehicle starts to move rapidly backward. This is the beginning of the swing back (after t1 in FIG. 4). Thereafter, the vehicle is damped and vibrated in the front-rear direction due to the restoring force of the suspension, and then stops.

  Therefore, in this embodiment, first, in order to detect that the vehicle has decelerated, it is determined whether or not the average value of the output values of the acceleration sensor 1 in the past predetermined time is negative.

  Next, when deceleration of the vehicle is detected, the output value of the acceleration sensor 1 changes in the direction opposite to the traveling direction in order to detect that the vehicle “starts to move suddenly backward” as described above. It is determined whether or not the amount of change in acceleration of the vehicle within a predetermined time exceeds a predetermined value. Then, when all of these determination conditions are true, it is determined that the swingback has occurred.

  Hereinafter, the vehicle stop determination process of the present embodiment including the above-described swingback detection will be described based on the flowcharts of FIGS. 3 and 5. This vehicle stop determination process is always executed while the navigation device is activated, in parallel with the above-described calculation process of vehicle acceleration and the like. Although not shown in FIG. 3, sampling processing for performing output values of the acceleration sensor 1, the angular velocity sensor 2, and the GPS receiver 4 every predetermined period T period is also used for calculating the acceleration of the vehicle and stopping the vehicle. It is executed in parallel with the judgment process.

  First, when the process is started, it is determined whether or not a vehicle stop confirmation flag is set (step S1). Since it is not determined that the stop of the vehicle is confirmed, the flag for confirming the stop of the vehicle is not raised (step S1; No). Next, is the value of the counter 1 always set to the predetermined value u? The process proceeds to a determination process of whether or not u sampling data is always present (step S2). Then, while the value of the counter 1 has not reached the predetermined value u, the vehicle stop determination process is terminated as it is (step S2; No).

  On the other hand, when the value of the counter 1 has reached the predetermined value u (step S2; Yes), first, as described above, it is determined whether or not the swing back of the output value of the acceleration sensor 1 has been detected (step S3). .

  Detailed processing of this swingback detection is shown in FIG. 5. First, it is determined whether or not the vehicle is decelerated based on whether or not the average acceleration of the vehicle is negative (step S20). The average acceleration of the vehicle is an average value of u pieces of sampling data as described above. If the vehicle has not been decelerated (step S20; No), the swingback detection process is terminated, and the process proceeds to step S4 in FIG.

  If the vehicle has been decelerated (step S20; Yes), it is determined whether or not the latest acceleration of the vehicle is positive (step S21). If the latest acceleration of the vehicle is not positive (step S21; No), the swingback detection process is terminated because the swingback has not started and the process proceeds to the process of step S4 in FIG.

On the other hand, when the latest acceleration of the vehicle is positive (step S21; Yes), a value obtained by subtracting the previous vehicle acceleration from the latest acceleration of the vehicle is a predetermined value or more, for example, 1.0 [m / s ² ] or more. It is then determined whether or not there has been a sudden change in the acceleration of the vehicle (step S22). If the above value is less than 1.0 [m / s ² ] (step S22; No), the swingback detection process is terminated as the swingback has not started and the process of step S4 in FIG. 3 is performed. Transition.

However, when the above value is 1.0 [m / s ² ] or more (step S22; Yes), it is determined that the swingback has started, and the stop of the vehicle after step S8 in FIG. The process proceeds to the process (FIG. 3, Step S3; Yes).

  By detecting the swing back in this way, it is possible to determine whether or not the vehicle is stopped regardless of the vehicle type or the location where the acceleration sensor 1 is attached. However, although it is necessary to confirm the presence or absence of damped vibrations in order to determine whether or not the swinging back is strictly, as a result of the experiment, a sufficient detection in practice can be performed only by the condition determination in steps S20 to S22. Was found to be possible.

  Next, when it is determined in step S3 in FIG. 3 that the swingback has not started (step S3; No), the output values of the u acceleration sensors 1 confirmed in step S2 in FIG. The standard deviation is calculated using the sampling data, and it is determined whether or not the standard deviation is equal to or less than a predetermined value σ. If the standard deviation is equal to or smaller than the predetermined value σ (step S4; Yes), the output value of the acceleration sensor 1 during the sampling period is stable, so that the vehicle is determined to be stopped and will be described later in step S8. The following vehicle stop confirmation process is performed.

  On the other hand, when the standard deviation exceeds the predetermined value σ (step S4; No), the standard deviation of the angular velocity sensor 2 is calculated using sampling data of the output values of the u angular velocity sensors 2, and this standard deviation is predetermined. It is determined whether or not the value is less than or equal to s. If the standard deviation is less than or equal to the predetermined value s (step S5; Yes), the output value of the angular velocity sensor 2 in the sampling period is stable, so that the vehicle is in a stopped state and will be described later in step S8. The following vehicle stop confirmation process is performed.

  If the standard deviation exceeds the predetermined value s (step S5; No), it is determined whether or not the GPS is in a positioning state (step S6). If it is not in the positioning state (step S6; No), the vehicle stop determination process is terminated. If it is in the positioning state (step S6; Yes), it is determined whether or not the GPS speed data is zero. Determination is made (step S7). If the GPS speed data is not zero (step S7; No), the vehicle stop determination process is terminated, but if it is zero (step S7; Yes), it is determined that the vehicle has stopped, A mask process for determining the stop of the vehicle is performed (step S8). As a result of this masking process, a vehicle stop decision flag is set, and the vehicle stop determination process (steps S2 to S7) is not performed while this flag is set (step S1; Yes).

  Finally, the vehicle start confirmation mask described later is released (step S9), and the vehicle start determination process described later is set to be performed.

  In the present embodiment, in the processing as described above, for example, the vehicle stop determination is performed by setting the sampling period T period to 0.1 second, σ to 0.30, and s to 0.15.

  As described above, according to the present invention, since the stop of the vehicle is determined based on not only the output value of the acceleration sensor 1 but also the output values of other sensors or the like, the stop of the vehicle can be reliably determined. .

When it is determined that the stop of the vehicle has been determined as described above, the previous vehicle speed (V _n-1 in the above equation (4)) and the current vehicle speed (in the above equation (4)). V _n ) is continuously set to zero (steps S10 and S11). Further, the cumulative travel distance per unit time up to the present (D _n in the above equation (6)) is kept zero (step S12).

Therefore, even when the output value of the acceleration sensor 1 fluctuates under the influence of a temperature change or the like until the next start of the vehicle, and the value obtained by subtracting the offset value from the output value of the acceleration sensor 1 does not become zero, The current vehicle speed (V _n in the above equation (4)) and the cumulative travel distance per unit time (D _n in the above equation (6)) at the sampling time nT after the vehicle stop is confirmed are set to zero. Since the vehicle continues, the vehicle position display is stopped.

  In addition, since the integration error and the accumulated error before the vehicle stop determination are canceled, the error is not accumulated, and the accuracy of the vehicle speed, the travel distance, and the like is improved.

  Next, the vehicle start determination process of the present embodiment will be described with reference to the flowchart of FIG. In this embodiment, when the change amount of the output value of the acceleration sensor 1 or the output value of the angular velocity sensor 2 for a certain period becomes large, or when it is detected that the GPS velocity data is not 0 [km / h] at the time of GPS positioning. It was determined that the vehicle started.

  Specifically, in the vehicle start determination process, first, when the standard deviation of the output value of the acceleration sensor 1 is equal to or greater than the predetermined value η, or the standard deviation of the output value of the angular velocity sensor 2 is equal to or greater than the predetermined value τ. When the GPS speed data is not 0 [km / h] at the time of GPS positioning, it is determined that the vehicle has started.

  Hereinafter, the vehicle start determination process of the present embodiment will be described based on the flowchart of FIG. This vehicle start determination process is always executed while the navigation device is activated, in parallel with the above-described calculation process of the vehicle acceleration and the like and the vehicle stop determination process. Although not shown in FIG. 6, a sampling process for performing output values of the acceleration sensor 1, the angular velocity sensor 2, and the GPS receiver 4 every predetermined period T is also executed in parallel with the vehicle start determination process. ing.

  First, when the process is started, it is determined whether or not a vehicle start confirmation flag is set (step S30). While it is not determined that the vehicle has been started, the vehicle start determination flag is not raised (step S30; No). Next, the value of the counter 1 is always the predetermined value ε. That is, the process proceeds to a determination process of whether or not ε pieces of sampling data are always present (step S31). Then, while the value of the counter 1 does not reach the predetermined value ε, the vehicle start determination process is terminated as it is (step S31; No). On the other hand, when the value of the counter 1 has reached the predetermined value ε (step S31; Yes), first, as described above, the standard deviation is calculated using the sampling data of the output values of the ε acceleration sensors 1, and this It is determined whether the standard deviation is equal to or greater than a predetermined value η. If the standard deviation is greater than or equal to the predetermined value η (step S32; Yes), the amount of change in the output value of the acceleration sensor 1 during the sampling period has increased, and it is determined that the vehicle is in a starting state and will be described later. Car start confirmation processing of S36 and below is performed.

  On the other hand, when the standard deviation does not reach the predetermined value η (step S32; No), the standard deviation of the angular velocity sensor 2 is calculated using sampling data of the output values of the ε angular velocity sensors 2, and this standard deviation is calculated. Is determined to be greater than or equal to a predetermined value τ. If the standard deviation is greater than or equal to the predetermined value τ (step S33; Yes), the amount of change in the output value of the angular velocity sensor 2 during the sampling period has increased, so that the vehicle is in a starting state, which will be described later in step S36 and later. Car start confirmation processing is performed.

  If the standard deviation does not reach the predetermined value τ (step S33; No), it is determined whether the GPS is in a positioning state (step S34). If it is not in the positioning state (step S34; No), the vehicle start determination process is terminated. If it is in the positioning state (step S34; Yes), it is determined whether the GPS speed data is not zero. (Step S35). If the GPS speed data is zero (step S35; No), the vehicle start determination process is terminated. If the GPS speed data is not zero (step S35; Yes), it is determined that the vehicle has started, and the vehicle The start determination masking process is performed (step S36). As a result of this masking process, a vehicle start confirmation flag is set, and the vehicle start determination process (steps S31 to S35) is not performed while this flag is set (step S30; Yes).

  Finally, the above-described mask for confirming the stop of the vehicle is released (step S37), and the above-described stop determination process for the vehicle is set.

  In the present embodiment, in the processing as described above, for example, the vehicle start determination is performed by setting the sampling period T period to 0.1 second, η 4.00, and τ 2.00.

  As described above, according to the present invention, since the start of the vehicle is determined based on not only the output value of the acceleration sensor 1 but also the output values of other sensors or the like, it is possible to reliably determine the start of the vehicle. .

As described above, according to the present invention, it is possible to accurately determine stop and start of the vehicle, and when it is determined that the stop of the vehicle is confirmed, the speed of the previous vehicle (the above formula (4)) V _n-1 ) and the current vehicle speed (V _n in the above equation (4)) and the cumulative travel distance per unit time (D _n in the above equation (6)) are set to zero. Even if the value obtained by subtracting the offset value from the output value of the acceleration sensor 1 does not become zero until the next start of the vehicle, the vehicle speed and the cumulative travel distance are surely kept at zero to display the vehicle position. It can be in a stopped state. In addition, the current vehicle speed (V _n in the above equation (4)) and the cumulative travel distance per unit time (D _n in the above equation (6)) at the sampling time nT calculated after the start of the vehicle are the initial _values. Since the previous vehicle speed (V _n-1 in the above equation (4)) and the cumulative travel distance per unit time (D _n-1 in the above equation (6)) up to the previous time are both zero, The error can be reduced.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. Note that the schematic configuration of the navigation device and the configuration of the acceleration sensor of the present embodiment are the same as those of the first embodiment shown in FIGS. 1 and 2, and the same reference numerals are given to the common portions with the first embodiment. Therefore, the description is omitted.

In the first embodiment, while the stop of the vehicle is confirmed, the current vehicle speed V _n , the previous vehicle speed V _n−1, and the cumulative travel distance D _n per unit time of the vehicle up to the present are set to zero. Therefore, the current vehicle speed V _n and the cumulative travel distance D _n per unit time at the sampling time nT calculated after the start of the vehicle are the offset value a _oe of the output value of the acceleration sensor 1 when the vehicle is stopped. Even when the value fluctuates, it can be accurately calculated without being affected by an integration error or a cumulative error when the vehicle is stopped.

However, the fluctuation of the offset value a _oe at the time of stopping of the output value of the acceleration sensor 1 is caused by the stabilization time of the output value of the acceleration sensor 1 at the time of the temperature change at the time of starting the navigation device or while the vehicle is stopped, or immediately after the vehicle is stopped. since the caused by variations or the like, (2) when a fixed value offset value a _oe at stop shown in equation (2) above, the acceleration a _n of the vehicle calculated by the formula acceleration sensor 1 Thus, an error occurs without following the fluctuation of the offset value _aoe of the output value.

As a result, the above (3) speed variation of the vehicle obtained by the equation [Delta] V _n and (5) an error in the variation [Delta] d _n of the traveling distance of the vehicle obtained by the expression occurs, as a result, the ( An error also occurs in the vehicle speed V _n obtained by the equation (4) and the cumulative travel distance D _n per unit time obtained by the equation (6).

Here, in the equation (2), the offset value a _oe at the time of stopping is subtracted from the output value a ′ _n of the acceleration sensor 1 so that the output value a ′ _n of the acceleration sensor 1 is zero even when the vehicle is stopped. This is because the acceleration sensor 1 is designed to show a predetermined value, that is, the offset value a _oe at the time of stopping.

Therefore, in this embodiment, when the stop value is determined by the accurate vehicle stop determination process as described in the first embodiment without setting the offset value a _oe at the time of stop as a fixed value, The average value of the output values a ′ _n of the acceleration sensor 1 at the time of stop confirmation is obtained, and the offset value a _oe at the time of stop is updated by the average value. Furthermore, in order to obtain the average value when the output value a ′ _n of the acceleration sensor 1 is in a more stable state, the predetermined period immediately after the stop of the vehicle and immediately before starting is excluded from the average value calculation period.

Thus, even when the output value a ′ _n of the acceleration sensor 1 fluctuates due to activation of the apparatus or temperature change when the vehicle is stopped, the offset value a _oe at the time of stop following the fluctuation can be set. can, reducing the error of the acceleration a _n of the vehicle which is calculated after the start of the vehicle can, as a result, reduces the error of the amount of change [Delta] d _n speed change amount [Delta] V _n and the travel distance of the vehicle, as a result The errors in the vehicle speed V _n and the accumulated travel distance D _n per unit time can be reduced.

Hereinafter, a specific method for updating the offset value a _oe when the vehicle is stopped will be described with reference to FIGS. 7 and 8. The processing shown below is mainly performed by the CPU 7.

  FIG. 7 is a flowchart showing offset value update processing at the time of stop, which is separate from the calculation processing of the vehicle acceleration, the vehicle stop determination processing, and the vehicle start determination processing described in the first embodiment. They are executed in parallel. Further, the sampling period of the output value of the acceleration sensor 1 is the T period similarly to the sampling period described in the first embodiment, and the update process is executed every T period.

  In this update process, first, it is determined whether or not the flag indicating the stop of the vehicle described in the first embodiment is set (step S40). That is, the update process is performed only when the vehicle stop is confirmed by the accurate stop determination of the vehicle described in the first embodiment. As a result of the determination, when the vehicle stop confirmation flag is not raised (step S40; No), the counter 2 for measuring the vehicle stop stabilization period described later is cleared to zero (step S41), and further described later when the vehicle is stopped. The counter 3 and the counter 4 for measuring the offset candidate value calculation period and the vehicle start sign period are cleared to zero (steps S42 and S43), and the updating process is terminated.

  On the other hand, if the vehicle stop confirmation flag is set and the vehicle stop is confirmed (step S40; Yes), the value of the counter 2 indicates whether or not the vehicle stop stabilization period has ended by a predetermined value α. It is determined by whether or not it has reached (step S44). As described above, the counter 2 is always cleared to zero when the stop of the vehicle is not confirmed. However, when the stop of the vehicle is confirmed, the counter 2 is not cleared to zero and is incremented every sampling period T. Therefore, the value of the counter 2 reaches the predetermined value α when the αT period elapses immediately after the stop of the vehicle is confirmed. That is, this period is a stop stable period of the vehicle, and the average value of the output value of the acceleration sensor 1 is not calculated during this period. This is because the output value of the acceleration sensor 1 may not be stable because the vehicle may move slightly or shake immediately after the stop of the vehicle is confirmed.

  Therefore, when the stop stable period of the vehicle has not ended (step S44; No), the value of the counter 2 is incremented and the updating process is ended. At this time, zero clear processing of the counter 3 and the counter 4 is also performed (steps S42 and S43).

  On the other hand, when the stop stable period of the vehicle has ended (step S44; Yes), it is determined whether or not the output value of the acceleration sensor 1 is stable based on whether the standard deviation of the output value is a predetermined value 2σ or less. (Step S45). When the standard deviation of the output value of the acceleration sensor 1 exceeds the predetermined value 2σ after the vehicle stop stabilization period ends, the offset value cannot be updated because the value is not stable. Therefore, the counter 3 and the counter 4 for measuring the offset candidate value calculation period and the vehicle start sign period, which will be described later, are cleared to zero (steps S42 and S43), and the update process is terminated.

  However, when the stable stop period of the vehicle ends (step S44; Yes) and the standard deviation of the output value of the acceleration sensor 1 is stabilized at a predetermined value 2σ or less (step S45; Yes), the offset at the time of stop In order to calculate the candidate value, the output value of the acceleration sensor 1 is sampled. Sampling is set to β in this embodiment, and sampling is continued until the value of the counter 3 reaches the predetermined value β (step S46; Yes) (step S46; No). As described above, the counter 3 is always cleared to zero when the standard deviation of the output value of the acceleration sensor 1 exceeds the predetermined value 2σ, but is not cleared when the standard deviation is less than the predetermined value 2σ, and is thus incremented every sampling period T period. Therefore, the value of the counter 3 reaches the predetermined value β when the (α + β) T period elapses immediately after the stop of the vehicle is confirmed.

  When the value of the counter 3 becomes the predetermined value β, that is, when the βT period has elapsed after the standard deviation becomes equal to or less than the predetermined value 2σ (step S46; Yes), the mth candidate value of the offset value at the time of stop is calculated. (Step S47). This m is an integer starting from 1, and first the first candidate value is calculated.

  The calculation of the candidate value is performed by the CPU 7 based on the following equation (7).

そして、この第ｍ候補値を図８に示すようなＲＡＭ９上に設けられたバッファ９ａの最上位アドレス部から記憶される。バッファ９ａは、本実施形態ではγ個のサンプリングデータを記憶できる容量を有しており、以上のようにして算出した停止時の各オフセット候補値が順次記憶されるようになっている。

The mth candidate value is stored from the most significant address portion of the buffer 9a provided on the RAM 9 as shown in FIG. In the present embodiment, the buffer 9a has a capacity capable of storing γ pieces of sampling data, and each offset candidate value at the time of stop calculated as described above is sequentially stored.

  Next, after the calculation and storage of the offset candidate value at the time of stopping are completed, it is determined whether the value of the counter 4 has reached a predetermined value γ, whether or not the vehicle start indication period has ended (step). S48). The counter 4 is cleared to zero while the sampling period for calculating the offset candidate value at the time of stop has not ended, and after the offset m-th candidate value is calculated at the stop after the end of the sampling period, the vehicle starts. Since it is incremented after the end of the sign period, the value of the counter 4 is 0 when the offset first candidate value at the time of stop is calculated, and the value of the counter 4 is 1 when the offset second candidate value at the time of stop is calculated.

  Since this updating process is executed every sampling period T, the value of the counter 4 reaches the predetermined value γ when the γT period elapses immediately after the end of the sampling period for calculating the offset candidate value at the time of stop. This period is set as the vehicle start sign period. During the vehicle start sign period, the vehicle may start to move immediately before the vehicle start is confirmed, and the output value of the acceleration sensor 1 may become unstable. Therefore, the average value of the output values of the acceleration sensor 1 should not be calculated. It is what.

  As described above, immediately after the offset first candidate value at the time of stop is calculated, the value of the counter 4 is 0 and has not reached the predetermined value γ (step S48; No). Is incremented (step S50), and the current update process is terminated.

  When this update process is executed after the next period 1T, since the vehicle is in a stopped state (step S40; Yes), an end determination process for the stop period of the vehicle is performed (step S44). As described above, since the vehicle stop stabilization period has already ended (step S44; Yes), it is determined whether or not the output value of the acceleration sensor 1 is stable (step S45). (Step S45; Yes), the process proceeds to a sampling period end determination process (Step S46). However, even in this case, as described above, since the value of the counter 3 has already reached the predetermined value β (step S46; Yes), the current output value of the acceleration sensor 1 is sampled, and the second offset candidate at the time of stoppage. Value calculation is performed (step S47). At this time, β sampling has already been performed in order to calculate the offset first candidate value at the time of stopping, and β + 1 sampling has been performed at this sampling. The calculation of the candidate value is set based on β sampling data to the last, and based on the current sampling data to (β-1) previous data, the above equation (7) is used to calculate the candidate value. An offset second candidate value is calculated (step S47).

  The calculated second offset candidate value at the time of stop is stored in the highest address part of the buffer 8a shown in FIG. 8, and the first offset candidate value at the time of stop stored before that is from the highest address part. Is also shifted to the lower address part by one candidate value. Therefore, the first candidate value is stacked on the buffer 8a on the offset second candidate value at the time of stop.

  Then, the value of the counter 4 after the calculation of the offset second candidate value at the time of stop is 1 due to the increment after the end determination of the previous vehicle start sign period, and has not yet reached the predetermined value γ. (Step S48; No), the value of the counter 4 is incremented and the updating process is terminated. Similarly, offset candidate values at the time of stop are calculated one after another.

  When calculation of the offset (γ + 1) candidate value at the time of stop is performed (step S47), the buffer 8a stores the first offset candidate value at the time of stop from the lowest address to the highest address. Predetermined values γ offset candidate values up to the γ candidate value are already stored, and when the (γ + 1) candidate offset value at the time of stop is stored in the most significant address part, {(γ + 1) −γ} th That is, the offset first candidate value at the time of stopping overflows from the buffer 8a.

  Furthermore, since the value of the counter 4 at this time has reached the predetermined value γ due to the previous increment, it is determined that the vehicle start indication period has ended (step S48; Yes), and the stop overflowed as described above. The first offset candidate value at the time is updated as the offset value at the time of stopping (step S49), and the current update process is terminated.

  Hereinafter, similarly, when calculation of the (γ + 2) th offset candidate value at the time of stop is performed (step S47), the vehicle start sign period has already ended (step S48; Yes), so the offset at the time of stop The second candidate value is updated as an offset value at the time of stop, and further, when the m-th offset candidate value at the time of stop is calculated, the offset (m−γ) candidate value at the time of stop is updated as the offset value at the time of stop. Is done.

  If the start of the vehicle is confirmed by the process described in the first embodiment in the state where the offset values at the time of stop are successively updated as described above, the vehicle stop confirmation flag is not set (step S40; No), the counter 2, the counter 3, and the counter 4 are cleared to zero (steps S41, 42, 43), and the acceleration after the start of the vehicle, etc. based on the latest offset value at the time of the stop updated so far. Calculation will be performed.

In the present embodiment, for example, specifically, the sampling period T period is set to 0.1 second as in the first embodiment, α is set to 5, β is set to 16, and γ is set to 5, and the offset value a _oe at the time of stop is updated. Went.

As described above, according to the present invention, the offset value at the time of stop is updated one after another by the average value obtained based on the sampling data within the offset candidate value calculation period at the time of stop. Even when the output value of the acceleration sensor 1 fluctuates due to variations in the stabilization time of the output value of the acceleration sensor 1 at the time of startup, temperature change, or the like, an appropriate offset value a _oe at the time of stopping following the fluctuation should be set. Can do.

  As a result, after starting the vehicle, it is possible to calculate the acceleration of the vehicle with less error by using an appropriate offset value at the time of stopping, and to reduce the error of the vehicle speed and travel distance calculated from the acceleration of the vehicle. be able to.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG. The schematic configuration of the navigation device and the configuration of the acceleration sensor 1 according to the present embodiment are the same as those of the first embodiment shown in FIGS. 1 and 2, and the same reference numerals are given to common portions with the first embodiment. A description thereof will be omitted.

  In the second embodiment, the offset value at the time of stopping is updated based on the average value of the output values of the acceleration sensor 1 when the stop of the vehicle is confirmed, so that the device is started, the temperature changes, or the acceleration sensor. Thus, it is possible to calculate an appropriate vehicle acceleration or the like that follows a change in the output value of the acceleration sensor 1 due to a variation in the stabilization time of the output value 1 or the like.

  However, when the non-stop running state continues for a long time such as long-distance non-stop running on an expressway or the like, the average output value of the acceleration sensor 1 when the vehicle stop is confirmed as in the second embodiment. The offset value at the time of stop cannot be updated based on the value.

  As a result, when the output value of the acceleration sensor 1 fluctuates due to a temperature change or the like during long-time (long-distance) non-stop traveling, the offset value at the time of vehicle traveling appropriately following the variation is updated. Thus, an error occurs in the calculated acceleration and speed of the vehicle and the travel distance. In particular, on highways and the like, route guidance such as “exit” and “branch” cannot be performed with good timing unless the travel distance of the vehicle is accurately obtained.

  Therefore, in this embodiment, when it is detected that the vehicle is in a non-stop traveling state for a long time (long distance) and the amount of change in the angular velocity and the speed of the vehicle is small, the output of the acceleration sensor 1 during this period The average value was obtained and the offset value when the vehicle was running was updated so as to approach this average value. This is because, even during long-time (long-distance) non-stop traveling, if the change in the angular velocity and speed of the vehicle is small, it is considered that the vehicle is close to a constant speed traveling state.

  Hereinafter, offset value update processing during specific vehicle travel in the present embodiment will be described with reference to FIG. 9. The processing shown below is mainly performed by the CPU 7.

  FIG. 9 is a flowchart showing offset value update processing during traveling. This processing is separate from the vehicle acceleration calculation processing, vehicle stop determination processing, and vehicle start determination processing described in the first embodiment. They are executed in parallel. Further, the sampling period of the output value of the acceleration sensor 1 is the T period similarly to the sampling period described in the first embodiment, and the update process is executed every T period.

  In this update process, first, it is determined whether or not the flag indicating the start of the vehicle described in the first embodiment is set (step S51). That is, the update process is performed only when the vehicle start is determined by the accurate vehicle start determination described in the first embodiment. As a result of this determination, when the vehicle start confirmation flag is not raised (step S51; No), the counter 5 for measuring an offset value update determination period during travel of the vehicle described later is cleared to zero (step S52). The update process ends.

On the other hand, when the vehicle start confirmation flag is set and the vehicle start is confirmed (step S51; Yes), the output of the acceleration sensor 1 is calculated by the equation (4) described in the first embodiment. It is determined whether or not the current vehicle speed V _n at the sampling time nT calculated based on the value is 30 [km / h] or more (step S53). This is because when the vehicle speed is too low, the vehicle speed and acceleration tend to become unstable, so it cannot be said that the vehicle is in a state suitable for updating the offset value during vehicle travel. This is also for excluding the case where the vehicle is traveling backward. That is, since the vehicle does not normally travel back at 30 km / h, it is estimated that the vehicle is moving forward at 30 km / h or higher. Therefore, when the speed V _{n of the} vehicle is less than 30 [km / h] (step S53; No), the counter 5 is cleared to zero (step S52), and the updating process is terminated.

However, if the speed V _{n of the} vehicle is 30 [km / h] or more (step S53; YES), it is determined whether the GPS is in a positioning state (step S54). Then, if the GPS is in a positioning state (step S54; Yes) and the accurate vehicle speed can be measured, it is determined whether or not the GPS speed data obtained by GPS positioning is 30 [km / h] or more. (Step S55). The reason is the same as the reason for determining whether or not the current vehicle speed V _n at the sampling time nT calculated based on the output value of the acceleration sensor 1 is 30 [km / h] or more.

  Therefore, when the GPS speed data is less than 30 [km / h] (step S55; No), the counter 5 is cleared to zero (step S52), and the updating process is terminated.

However, when the GPS speed data is 30 [km / h] or higher (step S55; YES), the absolute value of the current vehicle acceleration An at the sampling time nT calculated based on the output value of the acceleration sensor 1 is calculated. It is determined whether it is 0.3 [m / s ² ] or less (step S56). This is for determining whether or not it can be said that the speed change amount (acceleration _An ) calculated from the output value of the acceleration sensor 1 is small and the vehicle is in a constant speed traveling state. As a result, when the absolute value of the acceleration An of the vehicle exceeds 0.3 [m / s ² ] (step S56; No), it cannot be said that the vehicle is in a constant speed running state, and therefore the counter 5 is cleared to zero. (Step S52), the updating process is terminated.

On the other hand, _if the absolute value of the vehicle acceleration An is 0.3 [m / s ² ] or less (step S56; Yes), then the absolute value of the vehicle angular acceleration is 0.3 [deg / s. ² ] It is determined whether or not the following is true (step S57). This is to determine whether or not it can be said that the amount of change (angular acceleration) of the angular velocity calculated from the output value of the angular velocity sensor 2 is small and the vehicle is in a constant speed traveling state. As a result, when the absolute value of the angular acceleration of the vehicle exceeds 0.3 [deg / s ² ] (step S57; No), it cannot be said that the vehicle is in a constant speed running state, and therefore the counter 5 is cleared to zero. (Step S52), the updating process is terminated.

However, if the absolute value of the angular acceleration of the vehicle is 0.3 [m / s ² ] or less (step S57; Yes), then the absolute value of the GPS acceleration data obtained by GPS positioning is 0.3 [m. / S ² ] or less (step S58). This is also for determining whether or not it can be said that the amount of change in the GPS speed data (GPS acceleration data) is small and the vehicle is in a constant speed traveling state. As a result, when the absolute value of the GPS acceleration data exceeds 0.3 [m / s ² ] (step S58; No), it cannot be said that the vehicle is in a constant speed running state, and therefore the counter 5 is cleared to zero. (Step S52), the updating process is terminated.

On the other hand, when the absolute value of the GPS acceleration data is 0.3 [m / s ² ] or less (step S58; Yes), the constant speed running state of the vehicle satisfying the above conditions is a predetermined period. It is determined from the value of the counter 5 whether or not it has continued (step S59). When it is determined that the value of the counter 5 reaches the predetermined value λ and the vehicle is running at a constant speed (step S59; Yes), the vehicle is driven at a constant speed according to the following equation (8). The offset value when the vehicle travels is updated so as to approach the average value of the output values of the acceleration sensor 1 at (step S60). However, if the value of the counter 5 has not reached the predetermined value λ (step S59; No), the value of the counter 5 is incremented and the updating process is terminated.

ここで、可変更新定数δは、上記平均値により車両走行時のオフセット値を補正する割合を定めるものであり、本実施形態においては、例えば装置起動時の加速度センサ１の出力値のドリフトが収束するまでは０．００２とし、その他は０．００１とした。

Here, the variable update constant δ determines the ratio of correcting the offset value when the vehicle travels based on the average value. In this embodiment, for example, the drift of the output value of the acceleration sensor 1 when the apparatus is started converges. Until then, it was set to 0.002, and the others were set to 0.001.

As long as the vehicle satisfies the above conditions and is in a constant speed running state, the average value of the sampling data of the acceleration sensor 1 for the past λT period is obtained by the above equation (8), and the offset when the vehicle is running The value a _oen is successively updated while approaching the average value. The update speed is proportional to the variable update constant δ.

Even when not the GPS positioning state (step S54; No), the absolute value of the acceleration A _n is a variation of speed calculated based on the output value of the acceleration sensor 1 is 0.2 [m / s ^2] or less (Step S61; Yes) and the absolute value of the angular acceleration, which is the change amount of the angular velocity calculated based on the output value of the angular velocity sensor 2, is 0.2 [deg / s ² ] or less (step S62). ; Yes), it is determined that the vehicle is in a constant speed traveling state, and the offset value during vehicle traveling as described above is updated.

However, when the absolute value of the vehicle acceleration An exceeds 0.2 [m / s ² ] (step S61; No), or the absolute value of the vehicle angular acceleration exceeds 0.2 [deg / s ² ]. (Step S62; No), since it cannot be said that the vehicle is in the constant speed running state, the counter 5 is cleared to zero (step S63) and the updating process is terminated.

As described above, according to the present invention, the average value obtained based on the sampling data of the acceleration sensor 1 within the period in which it is determined that the vehicle is in the constant speed running state, one after another, the offset value when the vehicle is running. Is updated while approaching the above average value, and even when the output value of the acceleration sensor 1 fluctuates due to a temperature change or the like during long-time (long-distance) non-stop running, The offset value a _oe can be set.

  As a result, when the vehicle travels, the vehicle acceleration with less error can be calculated by the appropriate offset value during vehicle travel, and the vehicle speed and travel distance error calculated from the vehicle acceleration are reduced. be able to.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIGS. The schematic configuration of the navigation device and the configuration of the acceleration sensor 1 according to the present embodiment are the same as those of the first embodiment shown in FIGS. 1 and 2, and the same reference numerals are given to common portions with the first embodiment. A description thereof will be omitted.

  In the second embodiment or the third embodiment, the offset value is updated based on the average value of the output values of the acceleration sensor 1 when the vehicle is stopped or running, so that the apparatus is activated or for a long time. (Long distance) It is possible to calculate an appropriate vehicle acceleration or the like following a change in the output value of the acceleration sensor 1 due to non-stop running or temperature change.

However, as shown in described in the first embodiment (2), the acceleration A _n of the vehicle is calculated by multiplying the gain G _n-1, the conventional as a fixed value of the gain G _n-1 Therefore, even if the gain fluctuates with respect to the mounting angle of the navigation device with respect to the horizontal and the vehicle front-rear direction, it cannot be adjusted properly. It was not possible to deal with gain fluctuations due to differences in inclination angle fluctuations.

  Therefore, an error occurs in the vehicle acceleration calculated by the above equation (2), and as a result, an error occurs in the vehicle speed calculated by the above equation (4) and the vehicle travel distance calculated by the above equation (6). Produced.

Therefore, in the present embodiment, in the period in which the vehicle described in the third embodiment is determined to be in the constant speed running state, the average value of the vehicle speed calculated based on the output value of the acceleration sensor 1 during that period. And the gain G _n-1 is updated based on the ratio of the average value of the GPS speed data obtained by GPS positioning.

  Next, while the start of the vehicle is fixed, the vehicle is traveling in a state where the amount of change in acceleration calculated from the output value of the acceleration sensor 1 is small (equal acceleration traveling state), and the gyro (angular velocity) sensor 2. When the vehicle is traveling in a state where the amount of change in angular acceleration, which is the amount of change in angular velocity calculated from the output value, is small (constant angular acceleration running state), and GPS acceleration, which is the amount of change in GPS velocity data only during GPS positioning When traveling in a state where the amount of change in data is small (equal acceleration running state), the average value of acceleration calculated from the output value of the acceleration sensor 1 during that period (nT period) and the amount of change in GPS speed data While comparing the average value of GPS acceleration data, the gain correction coefficient follows the gain variation independently when the vehicle is accelerating and decelerating so as to approach the GPS acceleration data average value. We decided to go to converge with the (permanent) learning.

  Hereinafter, gain update processing and correction coefficient update processing according to the present embodiment will be described with reference to FIGS. 10 to 15. The processing shown below is mainly performed by the CPU 7.

  FIG. 10 is a flowchart showing a gain update process and a gain correction coefficient update process in the constant speed travel state and the constant acceleration travel state. The process includes the calculation process of the vehicle acceleration and the like described in the first embodiment, In parallel with the stop determination process, the vehicle start determination process, the offset value update process when the vehicle is stopped as described in the second embodiment, and the offset value update process when the vehicle is driven as described in the third embodiment. Is executed. Further, the sampling period of the output value of the acceleration sensor 1 is the T period similarly to the sampling period described in the first embodiment, and the update process is executed every T period.

  First, in this gain update process, it is determined whether or not the flag indicating the start of the vehicle described in the first embodiment is set (step S70). That is, the update process is performed only when the vehicle start is determined by the accurate vehicle start determination described in the first embodiment. As a result of this determination, when the vehicle start confirmation flag is not raised (step S70; No), the acceleration sensor gain update determination period during constant speed traveling of the vehicle, which will be described later, and the acceleration / deceleration independent gain during constant acceleration traveling of the vehicle are described. The counter 6 and the counter 7 for measuring the correction coefficient update determination period are cleared to zero (steps S71 and S84), and the update process is terminated.

  On the other hand, when the vehicle start confirmation flag is set and the vehicle start is confirmed (step S70; Yes), it is determined whether the GPS is in a positioning state (step S72). If the GPS is not in the positioning state (step S72; No) and accurate GPS speed data cannot be measured, the counter 6 and the counter 7 are cleared to zero (steps S71 and S84), and the update process is terminated.

  However, if the GPS is in a positioning state (step S72; Yes) and accurate GPS speed data can be measured, it is determined whether or not the GPS speed data by GPS positioning is 30 [km / h] or more. (Step S73). This is because if the GPS speed data is too low, the vehicle speed and acceleration tend to become unstable, so it cannot be said that the state is suitable for gain update.

  Therefore, when the GPS speed data is less than 30 [km / h] (step S73; No), the counter 6 is cleared to zero (step S78), the updating process is terminated, and the step of FIG. The process proceeds to a gain correction coefficient update process in S81 and subsequent steps.

  However, when the GPS speed data is 30 [km / h] or higher (step S73; Yes), the GPS speed data is calculated based on the output value of the acceleration sensor 1 by the equation (4) described in the first embodiment. It is determined whether or not the current vehicle speed Vn at the sampling time nT is 30 [km / h] or more (step S74).

When the speed V _{n of the} vehicle is less than 30 [km / h] (step S74; No), the counter 6 is cleared to zero (step S78), the updating process is terminated, and the step of FIG. The process proceeds to a gain correction coefficient update process in S81 and subsequent steps.

However, when the speed V _n of the vehicle is greater than or equal 30 [km / h] (step S74; Yes), the current of the vehicle at the sampling time nT, which is calculated based on the output value of the acceleration sensor 1 of the acceleration A _n It is determined whether or not the absolute value is 0.3 [m / s ² ] or less (step S75). This is to determine whether or not the vehicle speed change amount (acceleration _An ) calculated from the output value of the acceleration sensor 1 is small and it can be said that the vehicle is in a constant speed traveling state. As a result, when the absolute value of the acceleration A _n of the vehicle exceeds 0.3 [m / s ^2]; so (step S75 No), it can not be said that the vehicle is in a constant speed running condition, the counter 6 Zero is cleared (step S78), the updating process is terminated, and the process proceeds to a gain correction coefficient updating process after step S81 in FIG.

On the other hand, _if the absolute value of the vehicle acceleration An is 0.3 [m / s ² ] or less (step S75; Yes), then the absolute value of the vehicle angular acceleration is 0.3 [deg / s. ² ] It is determined whether or not the following is true (step S76). This is to determine whether or not the change amount (angular acceleration) of the vehicle's angular velocity calculated based on the output value of the angular velocity sensor 2 is small and it can be said that the vehicle is in a constant speed traveling state. Therefore, when the absolute value of the angular acceleration of the vehicle exceeds 0.3 [deg / s ² ] (step S76; No), it cannot be said that the vehicle is in the constant speed running state, so the counter 6 is cleared to zero. (Step S78), the updating process is terminated, and the process proceeds to a gain correction coefficient updating process after Step S81 in FIG.

However, when the absolute value of the angular acceleration of the vehicle is 0.3 [m / s ² ] or less (step S76; Yes), the absolute value of the GPS acceleration data obtained by GPS positioning is then 0.3 [m. / S ² ] or less (step S77). This is also for determining whether or not it can be said that the amount of change in the GPS speed data (GPS acceleration data) is small and the vehicle is in a constant speed traveling state. As a result, when the absolute value of the GPS acceleration data exceeds 0.3 [m / s ² ] (step S77; No), it cannot be said that the vehicle is in a constant speed running state, so the counter 6 is cleared to zero. (Step S78), the updating process is terminated, and the process proceeds to a gain correction coefficient updating process after Step S81 in FIG.

On the other hand, when the absolute value of the GPS acceleration data is 0.3 [m / s ² ] or less (step S77; Yes), the constant speed running state of the vehicle satisfying the above conditions is a predetermined period. It is determined from the value of the counter 6 whether or not it has continued (step S79). The counter 6 is cleared to zero when any one of the above conditions is false (step S78), but when all the conditions are true (step S79; No), the counter 6 is not cleared to the period T period. It is incremented at intervals. Therefore, the value of the counter 6 reaches the predetermined value χ immediately after all the above conditions become true, after the χT period has elapsed, and during the χT period, the vehicle is running at a constant speed. If it is determined (step S79; Yes), the gain is updated by the following equation (9) (step S80). Next, the process proceeds to a gain correction coefficient update process after step S81 in FIG.

そして、以上のような各条件を満たす車両が等速度走行状態にある限りは、上記（９−１）式により過去χＴ期間分の加速度センサ１の出力値に基づいて算出した速度の平均値が求められ、更に上記（９−２）式により過去χＴ期間分のＧＰＳ測位によるＧＰＳ速度データの平均値が求められ、そして、上記（９−３，４）式によりゲインＧ_nが求められ、求めた値によりゲインが更新される。従って、ゲインＧ_nが装置の水平及び車両前後方向に対する取付角度や、装置起動時及び温度ドリフト時や、加速時と減速時における車両の傾斜角の変動の相違等の要因により、変動する場合においても、その変動に追従した適切な値にゲインＧ_nを更新することができる。

As long as the vehicle that satisfies the above conditions is in a constant speed running state, the average value of the speeds calculated based on the output value of the acceleration sensor 1 for the past χT period by the above equation (9-1) is obtained. Further, the average value of the GPS speed data by GPS positioning for the past χT period is obtained by the above equation (9-2), and the gain G _n is obtained by the above equation (9-3, 4). The gain is updated with the value. Therefore, when the gain G _n varies due to factors such as the mounting angle of the device with respect to the horizontal and longitudinal directions of the device, the device startup and temperature drift, and the difference in vehicle inclination angle between acceleration and deceleration. In addition, the gain G _n can be updated to an appropriate value following the fluctuation.

  After performing the gain updating process as described above, in the present embodiment, the acceleration / deceleration independent gain correction coefficient updating process after step S81 in FIG. 10 described above is performed.

First, determine the amount of change in acceleration A _n of this vehicle at sampling time nT, which is calculated based on the output value of the acceleration sensor 1, the absolute value of the change in acceleration A _n of the vehicle is less than 0.3 Whether or not the vehicle is traveling at a constant acceleration is determined (step S81). If the absolute value of the change in acceleration A _n of the vehicle exceeds 0.3; cleared to zero (steps S81 No), the counter 7 as the vehicle is not a constant acceleration running state (step S84), acceleration and deceleration Independent gain correction coefficient update processing is terminated.

On the other hand, when the absolute value of the change in acceleration A _n of the vehicle is 0.3 or less (step S81; Yes), the change amount of the angular velocity of the vehicle is calculated based on the output value of the angular velocity sensor 2 It is determined whether or not the absolute value of the change amount of a certain angular acceleration is 0.3 or less, and the vehicle is determined to be in a uniform acceleration traveling state (step S82). When the absolute value of the change amount of the angular acceleration of the vehicle exceeds 0.3 (step S82; No), the counter 7 is cleared to zero because the vehicle is not in a uniform acceleration running state (step S84), and acceleration / deceleration independent This completes the gain correction process.

  On the other hand, when the absolute value of the change amount of the angular acceleration of the vehicle is 0.3 or less (step S82; Yes), whether the absolute value of the change amount of the GPS acceleration data by the GPS positioning is 0.3 or less. Whether or not the vehicle is traveling at a constant acceleration is determined based on whether or not (step S83). When the absolute value of the change amount of the GPS acceleration data exceeds 0.3 (step S83; No), the counter 7 is cleared to zero because the vehicle is not in a uniform acceleration running state (step S84), and acceleration / deceleration independent The gain correction coefficient update process is terminated.

  On the other hand, when the change amount of the GPS acceleration data is 0.3 or less (step s83; Yes), the value of the counter 7 is set to the predetermined value κ in the above-described determination process of the equal acceleration traveling state of the vehicle. (Step S85). The counter 7 is cleared to zero when any one of the determination conditions for each of the above-described equal acceleration running states of the vehicle is false (step S84), but the determination conditions for the equal acceleration running state of all the vehicles are true. Then, since it is not cleared to zero, the value of the counter 7 reaches the predetermined value κ immediately after the κT period elapses from immediately after the determination condition of the equal acceleration running state of all the vehicles becomes true. If it is determined that the constant acceleration running state of the vehicle has continued for the κT period (step S85: Yes), the gain correction coefficient is updated independently by acceleration / deceleration according to the following equations (10) and (11) (step S86).

（加速時）
[1] ０＜Ａacc_n＜Ａgpsn の場合
Ｇｋ_n ＝ Ｇｋ_n-1＋ φ ・・・（１１−１）
[2] ０＜Ａgps_n＜Ａacc_n の場合
Ｇｋ_n ＝ Ｇｋ_n-1− φ ・・・（１１−２）
（減速時）
[1] Ａgps_n＜Ａacc_n＜０ の場合
Ｇｋ'_n ＝ Ｇｋ'_n-1＋ φ ・・・（１１−３）
[2] Ａacc_n＜Ａgps_n＜０ の場合
Ｇｋ'_n ＝ Ｇｋ'_n-1− φ ・・・（１１−４）
Ｇｋ_n ： 今回の加速時ゲイン補正係数
Ｇｋ_n-1 ： 前回までの加速時ゲイン補正係数
Ｇｋ'_n ： 今回の減速時ゲイン補正係数
Ｇｋ'_n-1 ： 前回までの減速時ゲイン補正係数
φ ： 可変更新定数（０≦φ≦１）
そして、以上のような各条件を満たす車両が等加速度走行状態にある限りは、上記（１１−１）〜（１１−４）式により加減速独立にゲイン補正係数が更新される。

(Acceleration)
[1] 0 <case of _{Aacc n <Agpsn Gk n = Gk} n-1 + φ ··· (11-1)
[2] 0 <For _{Agps n <Aacc n Gk n =} Gk n-1 - φ ··· (11-2)
(During deceleration)
[1] When Agps _n <Aacc _n <0 Gk ′ _n = Gk ′ _n−1 + φ (11-3)
[2] When Aacc _n <Agps _n <0 Gk ′ _n = Gk ′ _n−1 −φ (11-4)
Gk _n: acceleration gain correction coefficient of this time
Gkn _-1 : Gain correction factor during acceleration up to the previous time
Gk ' _n : Gain correction factor during deceleration this time
Gk ' _n-1 : Gain correction factor during deceleration up to the previous time
φ: Variable update constant (0 ≦ φ ≦ 1)
As long as the vehicle that satisfies the above conditions is in the constant acceleration running state, the gain correction coefficient is updated independently by acceleration and deceleration according to the above equations (11-1) to (11-4).

  Accordingly, it is possible to suppress the gain fluctuation due to the difference in the fluctuation of the inclination angle of the vehicle during acceleration and deceleration, and to reduce errors in the calculated acceleration and speed of the vehicle and the travel distance.

  The variable update constant φ is, for example, three types such as ± 0.004 (± 0.4%), ± 0.002 (± 0.2%), ± 0.001 (± 0.1%), etc. Use the to change as follows. The variable update constant φ is changed so that the gain converges to a true value by observing a change in the acceleration of the vehicle. Hereinafter, the acceleration / deceleration independent gain correction coefficient learning process according to the present embodiment will be described with reference to the flowcharts of FIGS. This acceleration / deceleration independent gain correction coefficient learning process is executed when the above-described gain correction coefficient update process (step S86) is performed, and the sampling period includes the above-described gain update process and gain correction coefficient. The T period is the same as the update process. Therefore, the learning process is executed every T period.

First, it is determined whether or not the above-described vehicle equal acceleration traveling condition is satisfied (step S90), and if not satisfied (step S90; No), the learning process is terminated. However, when the constant acceleration traveling condition of the vehicle is satisfied (step S90; Yes), the current vehicle is being accelerated and the sampling time calculated based on the current output value of the acceleration sensor 1 If the average value Aacc _n of the acceleration a _n of this vehicle in nT is smaller than the average value AGPS _n of GPS acceleration data due to the current GPS positioning (hereinafter referred to as under-run condition) determines whether the ( Step S91). As a result, if it is determined that the current vehicle is accelerating and is in an underrun state (step S91; Yes), the previous vehicle is accelerating and the output of the acceleration sensor 1 of the previous vehicle. The average value Aacc _n-1 of the previous vehicle acceleration _An-1 at the sampling time (n-1) T calculated based on the value is larger than the average value Apgsn _-1 of the GPS acceleration data obtained by the previous GPS positioning. It is determined whether it is larger (hereinafter referred to as an overrun state) (step S92).

As a result, if it is determined that the previous vehicle is accelerating and is not in the overrun state (step S92; No), the sampling time (n−) calculated based on the output value of the acceleration sensor 1 the previous time is further increased. 2) It is determined whether or not the average value Aacc _n-2 of the acceleration A _n-2 of the previous vehicle at T was in an overrun state during acceleration (step S93).

  As a result, if it is determined that the previous run is not in the overrun state (step S93; No), the underrun state continues from the previous run to the current run, and the acceleration / deceleration independent gain correction coefficient is divergent. Determination is made (step S94), and the variable update constant φ is set to the maximum 0.4% (step S95).

On the other hand, if this time is an underrun state (step S91; Yes), but the previous time was an overrun state (step S92; Yes), the flag F _{A1 is set} to 1 (step S96), and the variable update constant φ Is set to 0.2% (step S97). And it transfers to step S98 mentioned later.

If the current and previous times are underrun (step S91; Yes, step S92; No), but the previous run was overrun (step S93; Yes), the flag F _{A1 is set} to 0 (step S101), the variable update constant φ is set to 0.1% (step S102), and the process proceeds to step S98.

In step S98, whether gain correction coefficient Gk _'n during deceleration is converged, i.e. in the learning process of deceleration, F _B1 that when corresponding to the learning process before last is set when the overrun or underrun condition , to determine whether any of the flags F _B2 is 1, if either is 1, the gain correction coefficient Gk _'n during deceleration is determined to have converged (step S98; Yes), during acceleration, a flag when the gain correction coefficient (Gk _n and Gk _'n) is converged to deceleration both (step S99). This result is used for map matching processing.

  As described above, when either 0.1% or 0.2% is selected as the variable update constant φ, the switching from the underrun state to the overrun state or from the overrun state to the underrun state is always performed. It was that there was. This means that the target gain value has been crossed, and it can be seen that it is moving toward the convergence direction.

On the other hand, if not one any of F _B1, F _B2 (step S98; No), the (11-1) below by updating the gain correction coefficient Gk _n during acceleration (Step S103), under this time It is determined that the engine is in the run state (step S104), and the gain correction coefficient learning process during acceleration is terminated.

Next, at the step S91, the average value Aacc _n of the acceleration A _n of this vehicle at sampling time nT, which is calculated on the basis of the present output value of the acceleration sensor 1 is not in under-run condition during acceleration determination If it is determined (step S91; No), it is determined whether or not the current vehicle is in an overrun state during acceleration (FIG. 12, step S105). As a result, when it is determined that the vehicle is accelerating and is in an overrun state (step S105; Yes), it is determined whether the underrun state is also in the previous acceleration (step S106).

  If it is determined that the previous run is not underrun (step S106; No), it is further determined whether or not the previous acceleration was underrun during acceleration (step S107).

  As a result, when it is determined that the previous run is not in the underrun state (step S107; No), the overrun state continues from the previous run to this time, and the acceleration / deceleration independent gain correction coefficient is divergent. A determination is made (step S108), and the variable update constant φ is set to the maximum 0.4% (step S109).

  On the other hand, if this time is an underrun state (step S105; Yes), but if the previous time was an underrun state (step S106; Yes), the flag FA2 is set to 1 (step S110), and the variable update constant φ is set. Set to 0.2% (step S111). And it transfers to step S112 mentioned later.

If the current and previous times are overrun (step S105; Yes, step S106; No), but the previous run was overrun (step S107; Yes), the flag F _{A2 is set} to 0 (step S115), the variable update constant φ is set to 0.1% (step S116), and the process proceeds to step S112.

In step S112, whether or not the gain correction coefficient Gk ′ _n at the time of deceleration has converged, that is, in the learning process at the time of deceleration, F _B1 that is set when the previous learning process is an overrun state or an underrun state. , It is determined whether any of the flags of F _BA2 is 1, and if any of them is 1, it is determined that the gain correction coefficient Gk ′ _n at the time of deceleration has converged (step S112; Yes). , acceleration, flags when gain correction coefficient (Gk _n and Gk _'n) is converged to decelerate both (step S113). This result is used for map matching processing.

On the other hand, when neither F _B1 nor F _BA2 is 1 (step S112; No), the gain correction coefficient is updated by the above equation (11-2) (step S117), and this time is an overrun state. Determination is made (step S118), and the gain correction coefficient learning process is terminated.

  Next, when it is determined in step S105 that the engine is not in an overrun state during acceleration (step S105; No), it is determined whether the vehicle is in an underrun state during deceleration (FIG. 13, Step S119). As a result, when it is determined that the vehicle is decelerating and is in an underrun state (step S119; Yes), it is determined whether or not the previous time was an overrun state during deceleration (step S120).

And when it determines with the last time not being an overrun state (step S120; No), the vehicle of the vehicle of the last time at the sampling time (n-2) T calculated based on the output value of the acceleration sensor 1 of the previous time is further. average acceleration value Aacc _n-2 of the a _n-2 determines whether an overrun condition during deceleration (step S121).

  As a result, when it is determined that the previous run is not in the overrun state (step S121; No), the underrun state during deceleration continues from the previous run to this time, and the acceleration / deceleration independent gain correction coefficient diverges. (Step S122), the variable update constant φ is set to the maximum 0.4% (step S123).

  On the other hand, although this time is an underrun state during deceleration (step S119; Yes), if the previous time was an underrun state during deceleration (step S120; Yes), the flag FB1 is set to 1 (step S124). Then, the variable update constant φ is set to 0.2% (step S125). And it transfers to step S126 mentioned later.

Further, when the current time and the previous time are underrun states during deceleration (step S119; Yes, step S120; No), but the previous run was an overrun state during deceleration (step S121; Yes), the flag F _{B1 is set} to 0 (step S129), the variable update constant φ is set to 0.1% (step S130), and the process proceeds to step S126.

In step S126, whether gain correction coefficient Gk _n during acceleration is converged, i.e. in the learning process during acceleration, F _A1 that when corresponding to the learning process before last is set when the overrun or underrun condition, any flags F _A2 it is determined whether 1, if to client, is 1, the gain correction factor Gk _n during acceleration is determined to have converged (step S126; Yes), the acceleration when, a flag when the deceleration both the gain correction coefficient (Gk _n and Gk _'n) is converged (step S127). This result is used for map matching processing.

On the other hand, if neither F _A1 nor F _A2 is 1 (step S126; No), the gain correction coefficient Gk ′ _n at the time of deceleration is updated by the above equation (11-3) (step S131). The underrun state during deceleration is determined (step S132), and the gain correction coefficient learning process is terminated.

Next, in step S119, the average value Aacc _n of the acceleration A _n of this vehicle at sampling time nT, which is calculated on the basis of the present output value of the acceleration sensor 1 is not in under-run condition during deceleration determination If it is determined (step S119; No), it is determined whether or not the vehicle is in an overrun state during deceleration (step S133 in FIG. 14). As a result, when it is determined that the vehicle is in an overrun state at the time of deceleration (step S133; Yes), it is determined whether or not the vehicle is in an underrun state during the previous deceleration (step S134).

And when it determines with the last time not being an underrun state (step S134; No), the vehicle of the vehicle of the last time in the sampling time (n-2) T calculated based on the output value of the acceleration sensor 1 of the last time is further passed. It determines whether a underrun state average Aacc _n-2 of the acceleration a _n-2 is in the accelerating (step S135).

  As a result, when it is determined that the previous run is not in an underrun state (step S135; No), the overrun state during deceleration continues from the previous run to the current run, and the acceleration / deceleration independent gain correction coefficient diverges. (Step S136), the variable update constant φ is set to the maximum 0.4% (step S137).

On the other hand, this time is overrun of deceleration (step S133; Yes), the last time in if it was under-run condition at the time of deceleration (step S134; Yes), the flag F _B2 and 1 (step S138 ), The variable update constant φ is set to 0.2% (step S139). And it transfers to step S140 mentioned later.

In addition, when the current time and the previous time are the overrun state at the time of deceleration (step S133; Yes, step S134; No), but the last time was the overrun state at the time of deceleration (step S135; Yes), the flag F _{B2 is set} to 0 (step S143), the variable update constant φ is set to 0.1% (step S144), and the process proceeds to step S140.

In step S140, whether gain correction coefficient Gk _n during acceleration is converged, i.e. in the learning process during acceleration, F _A1 that when corresponding to the learning process before last is set when the overrun or underrun condition, any flags F _A2 it is determined whether 1, if to client, is 1, the gain correction factor Gk _n during acceleration is determined to have converged (step S140; Yes), the acceleration sets a flag when the correction factor to the speed reduction both (Gk _n and Gk _'n) is converged (step S141). This result is used for map matching processing.

On the other hand, if neither F _A1 nor F _A2 is 1 (step S140; No), the deceleration correction gain correction coefficient Gk ′ _n is updated by the above equation (11-4) (step S145), and this time the speed is reduced. It is determined that the current overrun state is present (step S146), and the gain correction coefficient learning process is terminated.

Also, if the result of the determination by the step S133 is No, the acceleration of the average value by the average value Aacc _n and GPS positioning acceleration based on the output of the acceleration sensor 1 AGPS _n are equal, the gain correction coefficient is converged (Step S147).

The learning process as described above, for example, the gain correction factor Gk _n during acceleration is stepwise decreased as shown in FIG. 15, the time t ₂ later in a state of being converged. Incidentally, the convergence status of the gain correction factor Gk _n at ideal acceleration, around the final to be converged value, the direction of change in the acceleration and deceleration independent gain correction coefficient Gk _n is inverted alternately positive and negative directions Say the situation that continues. Therefore, CPU 7 determines that the case began to change in the gain correction coefficient Gk _n at the time of acceleration decreases monotonically increases or monotonically (time t ₃ ~), the true value of the gain has been changed. The largest variable update constant phi (Large: 0.4%) again by choosing to continue the operation for converging the gain correction coefficient Gk _n when new acceleration.

The convergence at the time of acceleration has been described, but the same applies to the gain correction coefficient Gk ′ _n at the time of deceleration.

In this way, the acceleration and deceleration independent gain correction coefficient Gk _n, Gk _'n converge respectively, most accurate actual deceleration matches the status of the gain variation independent gain correction coefficient Gk _n, Gk' is _n obtained .

  As described above, according to the present invention, since the gain is updated in the constant velocity state, it is possible to perform an appropriate gain adjustment following the navigation device mounting position, and the gain is increased at the time of start-up or due to a temperature change. Even if it fluctuates, it can be adjusted appropriately. In addition, since the acceleration / deceleration independent gain correction coefficient is updated, even if a gain fluctuation occurs due to the difference in the vehicle inclination angle during acceleration and deceleration, an appropriate gain correction coefficient that follows the fluctuation is set. can do. As a result, according to the present invention, errors in acceleration, speed, and travel distance can be reduced, and a highly accurate non-contact navigation device using an acceleration sensor can be provided. Moreover, since gain adjustment is possible according to the attachment position of a navigation apparatus as mentioned above, the said navigation apparatus can be attached without being limited to a vehicle model.

In the present embodiment, an example has been described in which the gain correction coefficient is set independently at the time of acceleration and at the time of deceleration in order to cope with the gain fluctuation due to the difference in the change in the inclination angle of the vehicle at the time of acceleration and deceleration. The present invention is not limited to this, and the gain itself G _n-1 or the offset value a _oe itself can be easily set to different values for acceleration and deceleration, and is different between acceleration and deceleration. The gain G _n-1 or the offset value a _oe may be used.

Different offset values a _oe are used when accelerating and decelerating because, due to the structure of the vehicle, if the inclination angle of the vehicle body differs between acceleration and deceleration, the gravity acting on the acceleration sensor 1 also differs. This is because the influence of gravity appears in the offset value of the acceleration sensor 1. Therefore, by using different offset values for acceleration and deceleration, and changing the gain itself between deceleration and acceleration, the same effect as when the gain correction coefficient is set for acceleration and deceleration can be obtained. is there.

  That is, errors in acceleration, speed, and travel distance can be reduced, and a highly accurate non-contact navigation device using an acceleration sensor can be provided. Moreover, since gain adjustment is possible according to the attachment position of a navigation apparatus as mentioned above, the said navigation apparatus can be attached without being limited to a vehicle model.

  The determination at the time of acceleration and deceleration may be made based on the increase / decrease of the speed or the output polarity of the acceleration sensor.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described with reference to FIGS. The schematic configuration of the navigation device and the configuration of the acceleration sensor 1 according to the present embodiment are the same as those of the first embodiment shown in FIGS. 1 and 2, and the same reference numerals are given to common portions with the first embodiment. A description thereof will be omitted.

  In each of the above-described embodiments, accurate stop determination and start determination of the vehicle, prevention of occurrence of integration error and cumulative error based on the determination, and update of the offset value, gain, or gain correction coefficient are performed accurately. It was possible to calculate the acceleration of a simple vehicle, and to calculate an accurate speed and travel distance based on the acceleration. However, in this embodiment, in addition to these processes, the speed calculated based on the output value of the acceleration sensor 1 is calibrated using highly reliable GPS speed data or speed data from the travel distance sensor 3. It is intended to calculate an even more accurate speed.

In this embodiment, by performing the following calculation, the vehicle speed V _ref detected by the GPS receiver 4 or the mileage sensor 3 or the like is used to arbitrarily set the previous vehicle speed V _n−1 . Calibration (reset) is performed at appropriate intervals, and the initial speed V _{0 of the} vehicle is calculated.

_{V 0 = V n-1 +} SP n · (Vref-V n-1) ··· (12)
In the above equation (12), SPn is a speed coefficient and is calculated as follows.

SP _n = V _ref / 30 (V _ref ≦ 30 km / h)
= 1.0 (V _ref > 30 km / h) (13)
Here, the speed coefficient SP _n is a variable proportional to the speed of the vehicle. As shown in FIG. 16, when V _ref is 30.0 [km / h] or less, it changes at a predetermined rate, and V _ref Is set to 1 when the vehicle reaches 30.0 [km / h], and is set to 0 when the vehicle further stops.

  That is, when the speed exceeds 30.0 [km / h], speed data obtained by highly reliable GPS positioning or the like is used, but when the speed is 30.0 [km / h] or less, a predetermined rate is used. Speed data obtained by GPS positioning or the like is added, and speed data is calibrated based on the output value of the acceleration sensor 1.

  Hereinafter, the speed reset process of the present embodiment will be described based on the flowchart of FIG. Note that the processing includes acceleration calculation processing, stop determination processing, and start determination processing described in the first embodiment, further, offset value update processing during stop described in the second embodiment, The offset value updating process during traveling described in the embodiment, the gain updating process, and the gain correction coefficient updating process described in the fourth embodiment are executed separately and in parallel. Further, the sampling period is the T period as in each embodiment, and the update process is executed every T period.

  Moreover, the example shown in FIG. 17 performs the said reset process based on the speed data obtained by GPS positioning.

First, the current vehicle acceleration _An is calculated by the above-described equation (2) described in the first embodiment (step S150). Next, it is determined whether or not the vehicle has been started (step S151). If the vehicle has not been started (step S151; No), the speed reset process is terminated. However, when the start has been confirmed (step S151; Yes), the current speed change ΔV _n of the vehicle is calculated by the above-described equation (3) described in the first embodiment (step S152). Then, the GPS data is updated, and it is determined whether or not the GPS is in the positioning state (step S153).

As a result, when it is not in the GPS positioning state (step S153; No), the speed cannot be reset. Therefore, the speed V _n of the current vehicle is calculated by the above equation (4) described in the first embodiment. (Step S155), the current travel distance change Δdn of the vehicle is calculated by the above-described equation (5) described in the first embodiment, and this time by the equation (6) described in the first embodiment. The cumulative travel distance D _n per unit time of the vehicle is calculated (step S157).

On the other hand, when it is in the GPS positioning state (step S153; Yes), it is determined whether or not the GPS speed data is 0 [km / h] (step S154). Then, if GPS velocity data is 0 [km / h] (step S154; Yes), the speed V _n of the current vehicle without the reset of the rate in the same manner as described above, the travel distance change amount [Delta] d _n, Then, the cumulative travel distance D _n is calculated (steps S155 to S157).

However, when the GPS speed data is not 0 [km / h], the GPS speed data is set to V _ref and the speed coefficient SP _n is determined based on the above equation (12). That is, when the GPS speed data exceeds 30 [km / h], the speed coefficient SP _n is set to 1.0, and when the GPS speed data is 30 [km / h] or less, V _{ref is set} to 30. Find by dividing by. Then, the speed V _n-1 is reset by the above equation (13) (step S158).

Thereafter, in the same manner as described above, using the reset speed V _n−1 , the current vehicle speed V _n is calculated by the above-described equation (4) (step S159), and the current vehicle travel is calculated by using the equation (5). It calculates the distance change amount [Delta] d _n (step S160), further (6), to calculate the cumulative travel distance D _n of the current vehicle (step S161).

As described above, according to the present embodiment, the vehicle speed V _n calculated based on the output of the acceleration sensor 1 is calibrated with highly reliable speed data, so that an integration error between the speed V _n and the travel distance D _n is obtained. In addition, the accumulated error can be reduced, and a more accurate speed and mileage can be obtained.

(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described with reference to FIGS. The schematic configuration of the navigation device and the configuration of the acceleration sensor 1 according to the present embodiment are the same as those of the first embodiment shown in FIGS. 1 and 2, and the same reference numerals are given to common portions with the first embodiment. A description thereof will be omitted.

  In this embodiment, the stop determination and start determination processing described in the first embodiment, the offset value update processing when the vehicle is stopped described in the second embodiment, and the vehicle described in the third embodiment. A combination of the offset value updating process during traveling, the acceleration / deceleration independent gain correction process described in the fourth embodiment, and the speed reset process described in the fifth embodiment, and a more accurate vehicle speed The mileage is to be calculated.

  FIG. 18 is a block diagram for explaining the system controller 5 to which each sensor and the like according to the present embodiment is connected from the functional aspect.

  As shown in FIG. 18, the output value of the acceleration sensor 1 is input to the first stop determination processing unit 31 via the A / D conversion unit 30. The first stop determination processing unit 31 performs a vehicle stop determination process based on the swingback detection shown in step S3 of FIG. Next, the output value of the acceleration sensor 1 that has passed through the first stop determination processing unit 31 is input to the second stop determination processing unit 32. The second stop determination processing unit 32 calculates a standard deviation σ based on the output value of the acceleration sensor 1 shown in step S4 of FIG. 3, and performs a stop determination process when the standard deviation σ is equal to or less than a predetermined value. .

  On the other hand, the output value of the angular velocity sensor 2 is input to the third stop determination processing unit 34 via the A / D conversion unit 33. The third stop determination processing unit 34 calculates a standard deviation u based on the output value of the angular velocity sensor 2 shown in step S5 of FIG. 3, and performs a stop determination process when the standard deviation u is equal to or less than a predetermined value. .

  Further, the output of the GPS receiver 4 is input to the fourth stop determination processing unit 35. The fourth stop determination processing unit 35 performs a stop determination process based on the GPS speed data in steps S6 and S7 in FIG.

  The determination result by each stop determination processing unit as described above and the output value of the acceleration sensor 1 that has passed through each stop determination processing unit are input to the acceleration sensor stop offset correction unit 36. The acceleration sensor stop offset correction unit 36 updates the offset value at the time of stop of the vehicle shown in FIG. 7 described in the second embodiment.

  Further, the determination result by each stop determination processing unit and the output value of the acceleration sensor 1 that has passed through each stop determination processing unit are input to the angular velocity sensor stop offset correction unit 37. The angular velocity sensor stop offset correction unit 36 updates the offset value of the angular velocity sensor 2. This process is not described in the above-described embodiments, but is the same process as the update of the offset value of the acceleration sensor. In other words, the output value of the angular velocity sensor 2 also has an offset as in the case of the acceleration sensor 1 and thus needs to be corrected. Therefore, when the stop is confirmed, the average of the output of the angular velocity sensor 2 at a predetermined number of samplings. A value is obtained, and this average value is updated as an offset value of the angular velocity sensor output.

  Next, the output of the acceleration sensor 1 that has passed through the acceleration sensor stop offset correction unit 36 is input to the first start determination processing unit 38. The first start determination processing unit 38 performs a standard deviation determination process for the output value of the acceleration sensor 1 shown in step S32 of FIG.

  On the other hand, the output of the angular velocity sensor 2 that has passed through the angular velocity sensor stop offset correction unit 37 is input to the second start determination processing unit 39. The second start determination processing unit 39 performs the standard deviation determination process for the angular velocity sensor output shown in step S33 of FIG.

  Further, the output of the GPS receiver 4 that has passed through the fourth stop determination processing unit 35 is input to the third start determination processing unit 40. The third start determination processing unit 40 performs start determination processing based on the GPS speed data in steps S34 and S35 of FIG.

  Next, the determination result of each of the start determination processing units and the output value of the acceleration sensor 1 that has passed through the first start determination processing unit 38 are input to the acceleration calculation unit 41. The acceleration calculation unit 41 calculates acceleration and speed based on the output value of the acceleration sensor 1 and outputs the acceleration to the first constant speed determination unit 44. The first constant speed determination unit 44 performs the speed determination process in step S53 and the constant speed determination process based on the accelerations in steps S56 and S61 shown in FIG.

  On the other hand, the determination result of each of the start determination processing units and the output value of the angular velocity sensor 2 that has passed through the second start determination processing unit 39 are input to the angular velocity calculation unit 42. The angular velocity calculation unit 42 calculates angular acceleration based on the output value of the angular velocity sensor 2 and outputs it to the second constant velocity determination unit 45. The second uniform velocity determination unit 45 performs a uniform velocity determination process based on the angular acceleration in step S57 shown in FIG.

  The determination result of each start determination processing unit and the GPS speed data that has passed through the third start determination processing unit 40 are input to the GPS speed data calculation unit 43. The GPS speed data calculation unit 43 calculates an acceleration based on the GPS speed data, and the acceleration and the GPS speed data are input to the third constant speed determination unit 46. The third constant speed determination unit 46 performs a constant speed determination process based on the GPS speed data in steps S54 and S55 shown in FIG. 9 and a constant speed determination process based on the GPS acceleration shown in step S58.

  Next, the determination result of each of the constant velocity determination units and the output value of the acceleration sensor 1 that has passed through the first constant velocity determination processing unit 44 are input to the acceleration sensor travel offset correction unit 47, and the acceleration sensor travel offset correction unit 47 performs the update process of the offset value during traveling shown in step S60 of FIG.

  In addition, the determination result of each of the constant velocity determination units and the output of the angular velocity sensor 2 that has passed through the second uniform velocity determination processing unit 45 are input to the angular velocity sensor travel offset correction unit 48, and the offset value of the angular velocity sensor output is updated. Is done. Although this update process is not described in each of the above-described embodiments, as in the case of the acceleration sensor 1, the average of the output values of the angular velocity sensor 2 is obtained in the constant velocity straight traveling state, and the offset value is updated at a predetermined rate. It is processing to do.

  Next, the speed based on the output of the acceleration sensor 1 that has passed through the acceleration sensor travel offset correction unit 47, the output value of the acceleration sensor 1 calculated by the acceleration calculation unit 41, and the amount of change in acceleration are the first constant acceleration. Input to the determination unit 49. The first uniform acceleration determination unit 49 performs a uniform speed determination process based on the acceleration sensor speed in step S74 shown in FIG. 10, a uniform acceleration determination process based on the acceleration in step S75, and a uniform acceleration determination process based on the acceleration change amount shown in step S81. I do.

  Further, the angular acceleration based on the output of the angular velocity sensor 2 that has passed through the angular velocity sensor travel offset correction unit 48 and the output of the angular velocity sensor 2 calculated by the angular velocity calculation unit 42 is input to the second uniform acceleration determination unit 50. . The second uniform acceleration determination unit 50 performs a uniform acceleration determination process based on the angular acceleration in step S76 of FIG. 10 and a uniform acceleration determination process based on the angular acceleration change amount in step S82.

  Further, the GPS speed data that has passed through the third constant speed determination unit 46, the GPS acceleration calculated by the GPS speed calculation unit 43, and the GPS acceleration change amount are input to the third constant acceleration determination unit 51. The third uniform acceleration determination unit 51 performs constant speed determination processing based on the GPS speed data in steps S72 and S73 shown in FIG. 10, constant speed determination processing based on the GPS acceleration in step S77, and further changes in the GPS acceleration change amount in step S83. Based on the equal acceleration determination process.

  Next, the output value of the acceleration sensor 1 that has passed through the equal acceleration determination unit 49 is input to the acceleration sensor gain correction unit 52. The acceleration sensor gain correction unit 52 performs a gain update process in step S80 in FIG. 10 and an acceleration / deceleration independent gain correction process in step S86.

  Then, the offset value updated by the acceleration sensor stop offset correction unit 36 and the acceleration sensor travel offset correction unit 47 and the gain and gain correction coefficient updated by the acceleration sensor gain correction unit 52 are input to the acceleration calculation unit 53. Is done. The acceleration calculation unit 53 calculates the acceleration by the above equation (1) based on the offset value, the gain, and the gain correction coefficient, and further calculates the velocity by integrating the acceleration by the above equation (3). Further, this speed is input to the speed integrator 54, and the speed integrator 54 integrates the speed to calculate the travel distance.

  On the other hand, the GPS speed data that has passed through the third equal acceleration determination unit 51 and the speed change amount calculated by the acceleration calculation unit 41 are input to the speed calibration unit 55 of the acceleration sensor. The speed calibration unit 55 of the acceleration sensor 1 calculates the speed based on the reset speed in step S159, calculates the travel distance change amount in step S160, and cumulative travel in step S161 in addition to the speed reset process in step S158 in FIG. Calculate the distance.

  In the present embodiment, the following vehicle position detection processing is performed by the system controller 5 having the above functions. Hereinafter, the own vehicle position detection process in the present embodiment will be described with reference to FIG. The sampling period is T period, and each process is executed every T period.

  First, when the power is turned on, the navigation device of the present embodiment is activated and the process starts (step S200). Then, confirmation of the connection status between the navigation device and each device, initial numerical value setting, and the like are performed (step S201), and acceleration and speed are calculated based on the output value of the acceleration sensor 1 (step S202). Next, the position and azimuth are calculated by GPS (step S203), and the azimuth is calculated from the output value of the angular velocity sensor 2 (step S204). Then, the travel distance is calculated based on these calculated values (step S205), and the vehicle position is obtained based on the output values of the GPS receiver and various sensors.

  Thereafter, a stop determination process and a start determination process based on the output of the angular velocity sensor 2 (step S206), or an update process of the offset value at the time of stopping or running of the angular velocity sensor based on the output of the angular velocity sensor 2 is performed (step S206). S207).

  Further, stop determination processing and start determination processing based on the output value of the acceleration sensor 1 (step S208), or update processing of the offset value during stoppage or running based on the output of the acceleration sensor 1 is performed (step S209). The stop determination process in step S208 corresponds to the process shown in FIG. 3, and the start determination process corresponds to the process shown in FIG. Furthermore, the offset value update processing in step S209 corresponds to the processing shown in FIGS.

  Next, a speed reset process of the acceleration sensor 1 based on GPS data is performed (step S210), and further acceleration sensor gain correction based on GPS data is performed (step S211). The speed reset process in step S210 corresponds to the process shown in FIG. 17, and the gain correction process in step S211 corresponds to the process shown in FIG.

  Thereafter, the processing from step S202 is repeated. Further, the counters described in the above embodiments are also incremented in this loop.

  According to the present embodiment as described above, it is possible to accurately determine the stop and start of the vehicle, and when it is determined that the stop has been confirmed, the previous vehicle speed, the current vehicle speed, and the current vehicle speed are determined. Since the cumulative travel distance up to zero is set to zero, the cumulative error during stoppage can be reduced, and the speed and travel distance can be reliably set to zero and the vehicle position display can be stopped. Further, the speed and the travel distance calculated after the start are both the initial vehicle speed, which is the initial speed, and the cumulative travel distance up to the present time are zero, so that subsequent errors can be reduced.

  Further, even when the output of the acceleration sensor 1 fluctuates due to temperature change during stoppage, start-up, or variations in stability time immediately after stoppage, an appropriate offset value that follows the change can be set and Later, with an appropriate offset value, an acceleration with a small error can be calculated, and an error in speed and travel distance calculated from the acceleration can be reduced.

  Further, even when the output of the acceleration sensor 1 fluctuates due to a temperature change or the like during long-time non-stop running, an appropriate offset value that follows the fluctuation can be set. Thus, it is possible to calculate an acceleration with little error and reduce an error in speed and travel distance calculated from the acceleration.

  Furthermore, it is possible to perform an appropriate gain adjustment that follows the position where the navigation device is attached, and to make an appropriate adjustment even when the gain fluctuates during startup or due to a temperature change. Even if a gain fluctuation occurs due to a difference in fluctuation of the vehicle inclination angle during acceleration and deceleration, an appropriate gain correction coefficient that follows the fluctuation can be set, and errors in acceleration, speed, and travel distance can be set. It is possible to provide a highly accurate non-contact navigation device using an acceleration sensor. Moreover, since gain adjustment is possible according to the attachment position of a navigation apparatus as mentioned above, the said navigation apparatus can be attached without being limited to a vehicle model.

  In addition, by correcting the speed calculated with a low error as described above with highly reliable speed data, the integration error and cumulative error of the speed and mileage can be reduced, and a more accurate speed and The mileage can be obtained.

  As described above, according to the present embodiment, a hybrid vehicle-mounted navigation device that uses an acceleration sensor that does not require electrical connection with an external device or the like as a sensor that performs self-supporting positioning, in any situation In addition, it is possible to provide a device capable of displaying a traveling position with high accuracy.

  In other words, the displacement state of the vehicle is detected based on the actual acceleration detected by the acceleration sensor 1 and the output data from the angular velocity sensor 2 or the GPS receiver 4, and the acceleration sensor 1 when the vehicle is in a predetermined state during its movement. Alternatively, since the parameter value of the calculation for calculating the actual acceleration of the vehicle is updated based on the output data of at least one of the angular velocity sensor 2 and the GPS receiver 4, the parameter fluctuates due to an environmental change or the like. Even in this case, it is possible to reduce the actual acceleration calculated based on the parameter, the change amount data regarding the change in the position or direction of the vehicle, and the error in the moving distance of the vehicle.

  In addition, since at least one of the gain multiplied by the acceleration data, the gain correction coefficient, or the offset value subtracted from the acceleration data is updated as described above, the gain is changed depending on a change in temperature or a change in the inclination angle of the vehicle. Even when the offset value fluctuates or the offset value fluctuates due to a temperature change or the like, the gain, gain correction coefficient, or offset value can be appropriately updated as described above, and the actual acceleration, It is possible to reduce the change amount data and the error of the moving distance.

  Furthermore, since the update is performed based on the output data of at least one of the acceleration sensor 1, the angular velocity sensor 2, or the GPS receiver 4 in a stable state, the calculation is performed with an appropriate value parameter. The actual acceleration with little error can be obtained. As a result, it is possible to reduce the change amount data calculated based on the actual acceleration with a small amount of error and the movement distance error calculated based on the change amount data.

  Further, as a calculation for calculating the actual acceleration, a calculation for subtracting an offset value from the acceleration data is performed, and the stop state of the vehicle is detected based on the actual acceleration and output data from the angular velocity sensor 2 or the GPS receiver 4. Since the offset value of the acceleration sensor 1 is updated when the vehicle is in a stopped state, even if the offset value fluctuates due to a temperature change or the like, the output data having a stable value can be used. The offset value can be updated, and errors in the actual acceleration, change amount data, and movement distance can be reduced.

  Further, as an operation for calculating the actual acceleration, an operation for subtracting an offset value from the acceleration data is performed. Based on the actual acceleration and output data from the angular velocity sensor 2 or the GPS receiver 4, the constant velocity movement state of the vehicle is determined. Detecting and updating the offset value of the acceleration sensor when the vehicle is in a constant speed movement state, so even if the offset value fluctuates due to temperature change etc. without stopping for a long time, The offset value can be updated with the output data having a stable value, and errors in the actual acceleration, change amount data, and moving distance can be reduced.

  Furthermore, since the average value of the acceleration data is calculated and the offset value of the acceleration sensor is updated with the average value, the offset value can be updated with stable data, and the actual acceleration and change amount data can be updated. , And the error of the moving distance can be reduced.

  Furthermore, a calculation to multiply the gain as a calculation for calculating the actual acceleration is performed, and a constant speed movement state of the vehicle is detected based on the actual acceleration and output data from the angular velocity sensor 2 or the GPS receiver 4, The ratio between the speed data calculated based on the actual acceleration by the system controller 5 and the speed data calculated based on the output data from the angular velocity sensor 2 or the GPS receiver 4 when the vehicle is moving at a constant speed. Therefore, even if the gain fluctuates, the gain can be updated to an appropriate value, and errors in the actual acceleration, change amount data, and movement distance can be obtained. Can be reduced.

  Further, the value of the gain is determined according to the ratio of the average value of the velocity data based on the acceleration data calculated by the system controller 5 and the average value of the velocity data based on the output data from the angular velocity sensor 2 or the GPS receiver 4. Therefore, even when the gain fluctuates, the gain can be updated to an appropriate value, and errors in the actual acceleration, change amount data, and movement distance can be reduced.

  Further, as an operation for calculating the actual acceleration, an operation of multiplying a gain and a gain correction coefficient is performed, and the acceleration calculated by the system controller 5 based on the actual acceleration and output data from the angular velocity sensor 2 or the GPS receiver 4 is calculated. Since the constant acceleration movement state is detected from the amount of change and the vehicle is in the constant acceleration movement state, the value of the gain correction coefficient is updated independently at the time of deceleration and at the time of acceleration. Even when the change in the inclination angle of the vehicle is different at the time of acceleration, the actual acceleration of the proper value can be calculated by the gain correction coefficient updated to the proper value, and the change amount data and the error of the moving distance can be calculated. Can be reduced.

  Furthermore, at least a GPS receiver 4 that calculates a vehicle position based on radio waves from a GPS satellite, an angular velocity sensor 2 that outputs angular velocity data in accordance with a change in the direction of the vehicle, or a travel distance sensor 3 that detects a moving speed of the vehicle. As described above, the predetermined data is obtained in response to the change in the position or direction of the vehicle. Therefore, based on the data with higher accuracy than the acceleration data output from the acceleration sensor 1 as described above, Updating can be performed, and errors in actual acceleration, change amount data, and movement distance can be reduced.

  Further, the displacement state of the vehicle is detected based on the actual acceleration and the output data from the angular velocity sensor 2 or the GPS receiver 4, and the actual parameters are measured by different parameters according to the change in the inclination angle of the vehicle during deceleration and acceleration. Since the acceleration is calculated, an actual acceleration with little error can be obtained. As a result, it is possible to reduce the change amount data calculated based on the actual acceleration with little error and the movement distance error calculated based on the change amount data.

  Furthermore, even when the vehicle tilt angle varies between deceleration and acceleration, the above calculation is performed using a gain or offset value corresponding to the variation, so that an actual acceleration with less error can be obtained. As a result, it is possible to reduce the change amount data calculated based on the actual acceleration with little error and the movement distance error calculated based on the change amount data.

It is a block diagram which shows schematic structure of the navigation apparatus in embodiment of this invention. It is a block diagram which shows the means to process the output value from the acceleration sensor in embodiment of this invention. It is a flowchart which shows the stop determination process of the vehicle in embodiment of this invention. It is a graph which shows the example of a change of the acceleration and speed of a vehicle in the case of the occurrence of swingback in the embodiment of the present invention. It is a flowchart which shows the swing-back detection process in embodiment of this invention. It is a flowchart which shows the start determination process of the vehicle in embodiment of this invention. It is a flowchart which shows the update process of the offset value at the time of a stop in embodiment of this invention. It is a schematic diagram which shows the structure of the buffer provided on RAM in embodiment of this invention. It is a flowchart which shows the update process of the offset value at the time of driving | running | working of embodiment of this invention. It is a flowchart which shows the update process and gain correction coefficient update process of the gain in the constant speed driving state and the constant acceleration driving state of the embodiment of the present invention. It is a flowchart which shows the acceleration / deceleration independent gain correction coefficient learning process in embodiment of this invention. It is a flowchart which shows the acceleration / deceleration independent gain correction coefficient learning process in embodiment of this invention. It is a flowchart which shows the acceleration / deceleration independent gain correction coefficient learning process in embodiment of this invention. It is a flowchart which shows the acceleration / deceleration independent gain correction coefficient learning process in embodiment of this invention. It is a flowchart which shows the convergence example of the gain correction coefficient in embodiment of this invention. It is a graph which shows the example of a switching of the speed coefficient in embodiment of this invention. It is a flowchart which shows the speed reset process in embodiment of this invention. It is a block diagram for demonstrating from a functional aspect the system controller to which each sensor etc. in the embodiment of the present invention was connected. It is a flowchart which shows the own vehicle position detection process in embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Acceleration sensor 2 Angular velocity sensor 3 Travel distance sensor 4 GPS receiver 5 System controller 6 Interface 7 CPU
8 ROM
9 RAM
DESCRIPTION OF SYMBOLS 10 Bus line 11 Input device 12a DVD-ROM drive 12b CD-ROM drive 13 Display unit 14 Graphics controller 15 Buffer memory 16 Display control part 17 Display 18 Sound reproduction unit 19 D / A converter 20 Amplifier 21 Speaker 22 VICS receiving part DK1 DVD-ROM disc DK2 CD-ROM disc

Claims (11)

An acceleration sensor that detects acceleration in the longitudinal direction of the moving body and outputs acceleration data;
Displacement detecting means for outputting predetermined data corresponding to a change in position or direction of the moving body;
An actual acceleration calculating means for calculating an actual acceleration by performing a predetermined calculation on the acceleration data;
Speed calculating means for outputting first speed data corresponding to the speed of the moving body based on output data of the displacement detecting means;
Based on the actual acceleration or the output data of the displacement detection means, a change amount calculation for calculating a change amount of at least one of the position change amount or the direction change amount per unit time of the moving body and outputting the change amount data. Means,
A moving distance calculating means for calculating a moving distance of the moving body based on the change amount data;
State detecting means for detecting a displacement state of the moving body based on the actual acceleration and output data of the displacement detecting means;
With
The change amount calculating means calculates second speed data corresponding to the speed of the moving body based on the actual acceleration,
The actual acceleration calculation means performs a calculation to multiply the gain as the calculation, and based on the first speed data and the second speed data when the displacement state of the moving body is a constant speed movement state. A navigation apparatus characterized by updating a gain value.   The actual acceleration calculating means updates the gain value in accordance with a ratio between the first speed data and the second speed data when the displacement state of the moving body is a constant speed moving state. The navigation device according to claim 1, wherein   The actual acceleration calculating means determines the gain according to a ratio between an average value of the first speed data and an average value of the second speed data when the displacement state of the moving body is a constant speed movement state. The navigation device according to claim 1, wherein the value is updated. Displacement detection acceleration calculating means for calculating the acceleration of the moving body based on output data of the displacement detection means;
The actual acceleration calculation means performs an operation of multiplying a gain correction coefficient as the calculation, and based on the actual acceleration when the displacement state of the moving body is an equal acceleration movement state and the calculated acceleration of the displacement detection acceleration calculation means. The navigation apparatus according to claim 1, wherein the value of the gain correction coefficient is updated. An acceleration sensor that detects acceleration in the longitudinal direction of the moving body and outputs acceleration data;
Displacement detecting means for outputting predetermined data corresponding to a change in position or direction of the moving body;
An actual acceleration calculating means for calculating an actual acceleration by performing a predetermined calculation on the acceleration data;
Displacement detection acceleration calculating means for calculating acceleration of the moving body based on output data of the displacement detecting means;
Based on the actual acceleration or the output data of the displacement detection means, a change amount calculation for calculating a change amount of at least one of the position change amount or the direction change amount per unit time of the moving body and outputting the change amount data. Means,
A moving distance calculating means for calculating a moving distance of the moving body based on the change amount data;
State detecting means for detecting a displacement state of the moving body based on the actual acceleration and output data of the displacement detecting means;
With
The actual acceleration calculation means performs an operation of multiplying a gain correction coefficient as the calculation, and based on the actual acceleration when the displacement state of the moving body is an equal acceleration movement state and the calculated acceleration of the displacement detection acceleration calculation means. A navigation apparatus characterized in that the value of the gain correction coefficient is updated.   The navigation apparatus according to claim 4 or 5, wherein the actual acceleration calculating means updates the value of the gain correction coefficient so that the actual acceleration approaches the calculated acceleration.   The navigation device according to any one of claims 4 to 6, wherein the actual acceleration calculating means updates the value of the gain correction coefficient independently during deceleration and during acceleration.   The actual acceleration calculating means performs an operation of subtracting an offset value from the acceleration data as the operation, and updates the offset value based on the acceleration data when the displacement state of the moving body is a constant velocity moving state. The navigation device according to any one of claims 1 to 7, wherein the navigation device is characterized in that   The said real acceleration calculation means calculates the average value of the said acceleration data when the displacement state of the said mobile body is a constant-velocity movement state, and updates the said offset value with the said average value. The navigation device described in 1. An acceleration sensor that detects acceleration in the longitudinal direction of the moving body and outputs acceleration data;
Displacement detecting means for outputting predetermined data corresponding to a change in position or direction of the moving body;
An actual acceleration calculating means for calculating an actual acceleration by performing a predetermined calculation on the acceleration data output from the acceleration sensor;
Change amount calculating means for calculating at least one of a position change amount or a direction change amount per unit time of the moving body based on data from the actual acceleration or displacement detection means and outputting predetermined change amount data;
A moving distance calculating means for calculating the moving distance of the moving body based on the changing amount data output by the changing amount calculating means;
With
The navigation apparatus according to claim 1, wherein the actual acceleration calculation means performs the calculation using different parameters for deceleration and acceleration.   The navigation device according to claim 10, wherein the parameter is at least one of a gain multiplied by the acceleration data, a gain correction coefficient, or an offset value subtracted from the acceleration data.

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