JP2009053153A - Current position calculating apparatus and vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the current position accuracy of a current position calculating apparatus. <P>SOLUTION: Inclination angles θa-θd of acceleration sensors 12a-12d for ABS (Antilock Brake System) are calculated, and offset voltage of an acceleration sensor 11b is corrected so as to eliminate the influence of an inclination angle α of a vehicle 10 with respect to a road. Thus, the inclination angle θ of the road on which the vehicle 10 is traveling is correctly calculated based on acceleration detected by the acceleration sensor 11b, and the height position of the vehicle 10 is calculated correctly. As a result, a current position of the vehicle is correctly calculated, and the calculation accuracy of a current position of a car navigation device 1 is improved. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a current position calculation device that calculates a current position and a vehicle equipped with the current position calculation device.

  A car navigation device is known as a current position calculation device that is mounted on a vehicle and calculates the current position of the vehicle. In this car navigation apparatus, the current position of the vehicle is calculated by calculating the inclination angle of the road from the detected inclination angle of the vehicle in the front-rear direction (see Patent Document 1).

JP 2002-277266 A

  However, the conventional car navigation apparatus cannot correctly calculate the inclination angle of the road when the vehicle itself is inclined with respect to the road.

(1) The present position calculation device according to the invention of claim 1 includes a receiving means for receiving a signal relating to a travel distance of the vehicle, a turning angle detecting means for detecting a turning angle in the left and right direction of the vehicle, and a tilt in the front and rear direction of the vehicle. Inclination angle detection means for detecting the angle, a signal related to the travel distance of the vehicle received by the reception means, a turning angle in the left-right direction of the vehicle detected by the turning angle detection means, and a longitudinal direction of the vehicle detected by the inclination angle detection means Current position calculating means for calculating the current position of the vehicle based on the inclination angle of the vehicle, and front and rear of the vehicle detected by the inclination angle detecting means based on a signal obtained from an acceleration sensor provided in the vicinity of the vehicle wheel. Inclination angle correction means for correcting the inclination angle of the direction is provided.
(2) The present invention of claim 2 is the current position calculation device according to claim 1, wherein the acceleration sensor used by the inclination angle correction means to correct the inclination angle in the longitudinal direction of the vehicle is in a slip state of the wheel. Accordingly, the acceleration sensor is used in an anti-lock brake system (ABS) that controls the braking force of the wheel so as to suppress the lock of the wheel.
(3) According to a third aspect of the present invention, in the present position calculating device according to the second aspect, the inclination angle correcting means is based on an average value of signals obtained from acceleration sensors respectively provided in the vicinity of each wheel of the vehicle. The vehicle is characterized in that the vehicle tilt angle detected by the tilt angle detection means is corrected.
(4) The invention of claim 4 is the current position calculation device according to any one of claims 1 to 3, further comprising a GPS signal receiving means for receiving a GPS signal from a GPS satellite, and a current position calculation means. Is autonomous based on the signal related to the travel distance of the vehicle received by the receiving means, the turning angle in the left-right direction of the vehicle detected by the turning angle detecting means, and the inclination angle in the front-rear direction of the vehicle detected by the inclination angle detecting means. The current position of the vehicle is calculated by navigation and / or the current position of the vehicle is calculated based on the GPS signal received by the GPS signal receiving means. The inclination angle correcting means is based on the GPS signal by the current position calculating means. Based on a signal obtained from an acceleration sensor provided near the vehicle wheel when the current position of the vehicle cannot be calculated, The tilt angle is corrected.
(5) A vehicle according to a fifth aspect of the invention includes the current position calculating device according to the first aspect and an acceleration sensor provided in the vicinity of the wheel.
(6) According to a sixth aspect of the present invention, in the vehicle according to the fifth aspect, the acceleration sensor controls the braking force of the wheel so as to suppress the locking of the wheel according to the slip state of the wheel. It is an acceleration sensor used in ABS).

  According to the present invention, the current position accuracy of the current position calculation device can be improved.

  With reference to FIGS. 1-4, one Embodiment which applied the present position calculation apparatus by this invention to the car navigation apparatus is described. FIG. 1 is a diagram showing an overall configuration of the car navigation device of the present embodiment, and FIG. 2 is a diagram showing a configuration of a vehicle (vehicle 10) on which the car navigation device of the present embodiment is mounted. In FIG. 2, only the portion related to the present invention is shown in the configuration of the vehicle 10. The car navigation device 1 includes a function of displaying a road map around the vehicle position, a function of calculating a recommended route from the departure place to the destination, a function of performing route guidance based on the calculated recommended route, and the like. It also has a function to present information about. The car navigation device 1 is a device that performs so-called navigation or road guidance.

  In FIG. 1, reference numeral 11 denotes a current position detection device that detects the current position of the vehicle. For example, a gyro sensor 11 a for detecting the amount of change in the traveling direction of the vehicle 10, and an acceleration sensor for detecting the longitudinal acceleration of the vehicle 10. 11b, a GPS sensor 11c that detects a GPS signal from a GPS (Global Positioning System) satellite, a vehicle speed sensor 11d that detects a vehicle speed, and the like. The vehicle speed sensor 11d is a sensor provided in the vehicle 10.

  The ABS acceleration sensors 12 a to 12 d are provided in the vicinity of each wheel of the vehicle 10, such as a suspension component on the wheel side of the suspension spring of the vehicle 10, for controlling the antilock brake system of the vehicle 10. (Figs. 1 and 2). That is, the ABS acceleration sensors 12a to 12d are attached to so-called unsprung parts (members). The ABS acceleration sensors 12 a to 12 d detect at least acceleration in the front-rear direction of the vehicle 10. The anti-lock brake system is a system that controls the braking force of the wheel so as to suppress the lock of the wheel according to the slip state of the wheel.

  Reference numeral 100 denotes a control device, which includes a CPU 101 and its peripheral circuits. The CPU 101 and its peripheral circuits are connected to each other via a bus. The peripheral circuit includes a memory 102, a parallel I / O 103, A / D converters 104a and 104b, a serial I / O 105, a counter 106, a graphic controller 107, an image memory 108, a map storage device 109, an I / F 112, and the like. Reference numeral 14 denotes a display monitor which is disposed at a position where a passenger in the vehicle can visually recognize and displays a map and various types of information. Reference numeral 15 denotes a switch for an occupant to input various operations such as input of a destination of the vehicle. The switch 15 includes a touch panel switch provided on the screen of the display monitor 14 and a joystick for instructing movement of the cursor or scrolling of the screen. The switch 15 may be a remote control switch or a switch provided around the display screen.

  The memory 102 of the control device 100 is a memory including a ROM for storing a control program, a RAM for a work area, and a nonvolatile memory for storing various setting values. The CPU 101 accesses the memory 102, executes a control program, and performs various controls. The parallel I / O 103 is a parallel I / O port to which individual switches constituting the switch 15 are connected. The A / D converters 104a and 104b are converters that A / D convert analog signals from the gyro sensor 11a and the acceleration sensor 11b, respectively. The serial I / O 105 is a serial I / O port that receives a serial signal from the GPS sensor 11c. The counter 106 is a counter that receives and counts, for example, a pulse signal output from the vehicle speed sensor 11d as the axle rotates, that is, a signal related to the travel distance of the vehicle 10.

  The graphic controller 107 stores display data output from the CPU 101 as image data in a memory 108 that is an image memory (video RAM), and performs control for displaying the image data stored in the memory 108 on the display monitor 14. Do. The display data output from the CPU 101 includes various character data and various graphic data such as a road map. The control device 100 functions as a display control device for the display monitor 14.

  The map storage device 109 is a map storage device that stores various types of information such as road map data and POI information (point of interest sightseeing spots and various facilities information) used for navigation processing, and uses a hard disk device. In addition to the hard disk device, the map storage device 109 may be a CD-ROM or DVD storing road map data, other recording media, and a reading device thereof.

  The I / F 112 is an interface for connecting the ABS acceleration sensors 12 a to 12 d provided in the vehicle 10. The I / F 112 and the ABS acceleration sensors 12a to 12d are connected by, for example, an IDB-1394 high-speed in-vehicle network.

--- Data structure ---
The road map data is information related to the map, and includes map display data, route search data, guidance data (intersection name / road name / direction name / direction guide / facility information, etc.) and the like. The map display data is data for displaying the road and the background of the road map. The route search data is data including branch information that is not directly related to the road shape, and is mainly used when calculating (route search) a recommended route. The guidance data is data including names of intersections and the like, and is used when the recommended route is guided to the driver or the like based on the calculated recommended route.

  The car navigation device 1 configured as described above performs various types of navigation based on information acquired by the current location detection device 11 and road map data stored in the map storage device 109. For example, the CPU 101 of the control device 100 calculates the current position of the vehicle 10 based on the information acquired by the current position detection device 11 and displays the road map near the current position and the current position of the vehicle 10 on the display monitor 14. Further, the CPU 101 controls each unit so as to guide the driver along the route (recommended route) obtained by the route search.

  In the car navigation device 1 of the present embodiment, the CPU 101 of the control device 100 calculates the current position of the vehicle 10 by so-called satellite navigation based on the positioning information output from the GPS sensor 11c. When the GPS sensor 11c cannot receive a GPS signal, the CPU 101 cannot estimate the current position of the vehicle 10 by satellite navigation, and estimates the current position of the vehicle 10 by so-called autonomous navigation. The current position of the vehicle 10 is estimated by the technique.

  In addition, when calculating the current position of the vehicle 10 by autonomous navigation, the CPU 101 calculates a turning angle in the left-right direction of the vehicle 10 based on the output from the gyro sensor 11a, and based on the output from the acceleration sensor 11b. Is calculated, and the travel distance of the vehicle 10 is calculated based on the output from the vehicle speed sensor 11d. Then, the CPU 101 calculates the current position of the vehicle 10 based on the calculated turning angle of the vehicle 10, the front-rear direction inclination angle, and the travel distance.

  When calculating the current position of the vehicle 10, for example, the CPU 101 determines whether the vehicle 10 is traveling on an elevated road or an elevated road close to the elevated road. Judgment is made using height position data. When calculating the current position of the vehicle 10 by satellite navigation, the CPU 101 calculates the height position of the vehicle 10 based on information about altitude included in the positioning information output from the GPS sensor 11c. When calculating the current position of the vehicle 10 by autonomous navigation, the CPU 101 calculates the height position of the vehicle 10 by calculating the amount of movement of the vehicle 10 in the vertical direction as follows.

  When the vehicle 10 travels on a sloped road, the vehicle 10 moves in the horizontal direction and the vertical direction. For example, as shown in FIG. 3A, when the vehicle 10 travels on a road inclined at an inclination angle θ by a distance L, the vehicle 10 moves by Lcosθ in the horizontal direction and Lsinθ in the vertical direction (height direction). Just move. Therefore, if the road inclination angle θ and the travel distance L of the vehicle 10 are known, the amount of movement of the vehicle 10 in the height direction can be calculated. As shown in FIG. 3B, the inclination angle θ is obtained from the output g · sin θ of the acceleration sensor 11b, and the travel distance L is obtained from the output of the vehicle speed sensor 11d.

  The height position (altitude) of the new vehicle 10 can be calculated by adding the movement amount in the height direction of the vehicle 10 thus calculated to the original height position of the vehicle 10. The calculated information on the height position of the new vehicle 10 is stored in the memory 102 for use in the next calculation of the height position of the vehicle. That is, the height of the new vehicle 10 is calculated by adding the amount of movement in the height direction of the vehicle 10 calculated as described above to the previously calculated height position of the vehicle 10 stored in the memory 102. The position can be calculated. For roads on which the vehicle 10 is determined to be traveling by a known map matching technique, road altitude information is read from the road map data stored in the map storage device 109, and the read altitude information is converted into the read altitude information. Based on this, the height position of the vehicle 10 calculated as described above may be corrected as appropriate.

  When the vehicle 10 is parallel to the road, the inclination angle θs of the vehicle 10 calculated based on the acceleration detected by the acceleration sensor 11b matches the inclination angle θ of the road. If the vehicle 10 is stopped or traveling at a constant speed, as shown in FIG. 3 (b), the longitudinal acceleration of the vehicle 10 detected by the acceleration sensor 11b is gsinθ when g is a gravitational acceleration. Become. In addition, when the vehicle 10 is accelerating or decelerating, the acceleration in the longitudinal direction of the vehicle due to the acceleration or deceleration of the vehicle 10 is also detected by the acceleration sensor 11b. However, since the acceleration in the longitudinal direction of the vehicle due to the acceleration or deceleration of the vehicle 10 is equal to the time differential value of the vehicle speed detected by the vehicle speed sensor 11d, the acceleration in the longitudinal direction of the vehicle 10 detected by the acceleration sensor 11b, Only the acceleration detected by the inclination of the vehicle 10 can be calculated from the time differential value of the vehicle speed detected by the vehicle speed sensor 11d. As described above, when the vehicle 10 is parallel to the road, the inclination angle θs with respect to the horizontal plane of the vehicle 10 based on the acceleration detected by the acceleration sensor 11b regardless of whether the vehicle 10 is accelerated or decelerated, that is, The road inclination angle θ can be calculated.

  However, if the suspension stroke of the vehicle 10 changes due to the placement of passengers, luggage, or acceleration / deceleration of the vehicle 10, the vehicle 10 is not parallel to the road as shown in FIG. Thus, if the vehicle 10 is no longer parallel to the road, the inclination angle θs with respect to the horizontal plane of the vehicle 10 calculated based on the acceleration detected by the acceleration sensor 11b is equal to the inclination angle θ of the road and the road This is the sum of the inclination angle α of the vehicle 10 with respect to the vehicle. For this reason, when the inclination angle α of the vehicle 10 with respect to the road is not considered as in the conventional car navigation apparatus, the inclination angle θ of the road is not calculated correctly, and the amount of movement of the vehicle 10 in the height direction is calculated correctly. Can not. Therefore, in the conventional car navigation apparatus, since the height position of the vehicle 10 is erroneously calculated, the vehicle 10 is traveling on a road different from the road on which the vehicle 10 is actually traveling. As a result, the current position of the vehicle 10 may not be calculated correctly.

  Similarly, when the inclination angle α of the vehicle 10 with respect to the road is not considered as in the conventional car navigation apparatus, the inclination angle θ of the road is not calculated correctly, and the amount of movement of the vehicle 10 in the horizontal direction is calculated correctly. Can not. Therefore, in the conventional car navigation device, for example, when traveling on a slope like a three-dimensional parking lot by autonomous navigation, the horizontal position of the vehicle 10 is erroneously calculated. A position different from that is calculated as the current position of the vehicle 10. Further, the difference between the calculated current position of the vehicle 10 and the actual current position of the vehicle 10 increases as the travel distance of the vehicle 10 increases.

  Therefore, in the car navigation device 1 of the present embodiment, the road inclination angle θ is correctly calculated by using the ABS acceleration sensors 12a to 12d used for controlling the antilock brake system of the vehicle 10. Specifically, when the CPU 101 switches from the calculation of the current position of the vehicle 10 by satellite navigation to the calculation of the current position of the vehicle by autonomous navigation, the CPU 101 accelerates four ABS acceleration sensors 12a before and after switching from satellite navigation to autonomous navigation. Read each output voltage value of ~ 12d. Then, the CPU 101 calculates the inclination angles θa to θd of the ABS acceleration sensors 12a to 12d themselves from the read change in the output voltage value. As described above, the ABS acceleration sensors 12a to 12d are provided on the wheel side of the suspension spring of the vehicle 10 and are not affected by the suspension stroke. ˜θd (that is, the inclination angle with respect to the horizontal plane) is substantially equal to the inclination angle θ of the road.

  For example, for each of the ABS acceleration sensors 12a to 12d, the CPU 101 reads the voltage values Va to Vd of the signals output from the ABS acceleration sensors 12a to 12d every 10 ms. Then, when the CPU 101 reads the voltage value Va for 10 times, the CPU 101 calculates an average value Vaave of the read voltage value Va for 10 times. Similarly, for the voltage values Vb to Vd, the CPU 101 calculates the average values Vbave to Vdave of the read voltage values Vb to Vd after reading the voltage values Vb to Vd for 10 times. The average values Vaave to Vdave calculated in this way are used to calculate the inclination angles θa to θd of the ABS acceleration sensors 12a to 12d themselves.

  The CPU 101 calculates an average value (average inclination angle) θave from the calculated inclination angles θa to θd of the ABS acceleration sensors 12a to 12d themselves. The offset voltage of the acceleration sensor 11b is corrected so that the average inclination angle θave matches the inclination angle θs of the vehicle 10 calculated from the output value of the acceleration sensor 11b. By correcting the offset voltage of the acceleration sensor 11b in this way, the inclination angle θs calculated based on the acceleration detected by the acceleration sensor 11b becomes substantially equal to the road inclination angle θ, so that the correct inclination angle θ is calculated. become able to.

--- Flow chart ---
FIG. 4 is a flowchart showing the operation of the process of calculating the current position of the vehicle 10 and displaying it on the display monitor 14. When the accessory switch is turned on (ACC ON) by an ignition key (not shown) of the vehicle, a program for performing the processing shown in FIG. 4 is started and repeatedly executed by the CPU 101 as appropriate. In step S1, various data output from the current position detection device 11, the ABS acceleration sensors 12a to 12d, etc. are read, and the process proceeds to step S3. In step S3, a process of reading and storing the voltage values Va to Vd of the signals output from the ABS acceleration sensors 12a to 12d every predetermined sampling time (for example, 10 ms) is started. The voltage values Va to Vd are temporarily stored in the memory 102 for the most recent predetermined time.

  If step S3 is performed, it will progress to step S5 and it will be judged whether the positioning information output from the GPS sensor 11c was acquired when various data were read by step S1. If an affirmative determination is made in step S5, the process proceeds to step S7, where the current position calculation process of the vehicle 10 is performed by satellite navigation. Since the current position calculation processing of the vehicle 10 by satellite navigation is known, detailed description thereof is omitted. In step S7, a known map matching process is also performed. When step S7 is executed, the process proceeds to step S9, and the calculated current position of the vehicle 10 is stored. Note that the information on the current position of the vehicle 10 stored in step S9 is used in the next calculation of the current position of the vehicle 10.

  When step S9 is executed, the process proceeds to step S11, and each unit is displayed so as to superimpose a car mark indicating the current position of the vehicle 10 on the map displayed on the display monitor 14 based on the calculated current position of the vehicle 10. Control and return.

  If a negative determination is made in step S5, the process proceeds to step S31, the storage process is started in step S3, the data of the voltage values Va to Vd stored in the memory 102 is read, and the process proceeds to step S33. In step S33, the voltage values Va to Vd of the signals output from the ABS acceleration sensors 12a to 12d are read and added every predetermined sampling time, and the process proceeds to step S35. In step S35, it is determined whether or not a predetermined time required to read the voltage values Va to Vd a predetermined number of times (for example, 10 times) in order to calculate the average values Vbave to Vdave. If a negative determination is made in step S35, the process returns to step S33, and if a positive determination is made in step S35, the process proceeds to step S37.

  In step S37, average values Vbave to Vdave are calculated from the voltage values Va to Vd accumulated in step S33, and the process proceeds to step S39. In step S39, the inclination angles θa to θd of the ABS acceleration sensors 12a to 12d themselves are calculated based on the data of the voltage values Va to Vd read in step S31 and the average values Vbave to Vdave calculated in step S37. Proceed to S41. In step S41, an average inclination angle θave, which is an average value, is calculated from the inclination angles θa to θd calculated in step S39, and the process proceeds to step S43.

  In step S43, the offset voltage of the acceleration sensor 11b is corrected based on the average inclination angle θave calculated in step S41 and the voltage value of the acceleration sensor 11b read in step S1, and the process proceeds to step S45. In step S45, the inclination angle θs is calculated based on the voltage value of the acceleration sensor 11b read in step S1 and the offset voltage corrected in step S43, and the process proceeds to step S47. In step S47, the travel distance L of the vehicle 10 is calculated based on the vehicle speed data read in step S1, and the vertical movement amount Lsinθ (of the vehicle 10 based on the corrected inclination angle θs calculated in step S45. = Lsinθs) and a horizontal movement amount Lcosθ (= Lcosθs) are calculated, and the process proceeds to step S49.

  In step S49, the movement amounts Lsinθ and Lcosθ of the vehicle 10 calculated in step S47 are added to the height position and the horizontal position of the vehicle 10 calculated in the previous process and stored in the memory 102, respectively. The position of the vehicle 10 is calculated and the process proceeds to step S51. In step S51, the current position calculation process of the vehicle 10 by autonomous navigation is performed using the position of the vehicle calculated in step S49 as the current position of the vehicle 10. In addition, since the present position calculation process of the vehicle 10 by autonomous navigation is well-known, detailed description is abbreviate | omitted. In step S51, a known map matching process is also performed. When step S51 is executed, the process proceeds to step S9.

The car navigation device 1 described above has the following operational effects.
(1) By correcting the offset voltage of the acceleration sensor 11b by eliminating the influence of the inclination angle α of the vehicle 10 on the road based on the inclination angles θa to θd of the ABS acceleration sensors 12a to 12d itself, the acceleration sensor 11b The tilt angle θs calculated based on the acceleration detected in step S5 is corrected. Therefore, the inclination angle θ of the road on which the vehicle 10 travels is correctly calculated, and the height position and the horizontal position of the vehicle 10 are correctly calculated. As a result, the current position of the vehicle is correctly calculated, and the current position calculation accuracy of the car navigation device 1 can be improved.

(2) Since the ABS acceleration sensors 12a to 12d are used to correct the offset voltage of the acceleration sensor 11b described above, it is not necessary to add new sensors, and an increase in cost can be suppressed.

(3) All of the ABS acceleration sensors 12a to 12d provided in the vehicle 10 are used. As a result, even when the vehicle 10 travels in a path that also tilts in the left-right direction, such as a spiral slope of a self-propelled multilevel parking lot, the calculation error of the road inclination angle θ is reduced. Can be small.

(4) When the current position of the vehicle 10 is calculated by autonomous navigation, the offset voltage of the acceleration sensor 11b described above is corrected. When the current position of the vehicle 10 is calculated by satellite navigation, the offset voltage of the acceleration sensor 11b described above is corrected. It was configured not to perform correction. By performing the correction process of the offset voltage of the acceleration sensor 11b described above only when necessary, the load on the CPU 101 can be suppressed. When calculating the current position of the vehicle 10 by satellite navigation, the height position of the vehicle 10 can be calculated based on information about the altitude included in the positioning information output from the GPS sensor 11c.

---- Modification ---
(1) In the above description, the ABS acceleration sensors 12a to 12d are used to correct the offset voltage of the acceleration sensor 11b. However, the present invention is not limited to this. If the acceleration sensor used for correcting the offset voltage of the acceleration sensor 11b is an acceleration sensor provided at a position not affected by the suspension stroke of the vehicle 10, it is not limited to the control application of the anti-lock brake system. It may be used for controlling the skid prevention mechanism. The ABS acceleration sensors 12a to 12d may be acceleration sensors incorporated in the tire. In this case, a signal may be received, for example, wirelessly from an acceleration sensor provided on a rotating tire by a receiving device provided on the suspension side of the vehicle 10.

(2) In the above description, when the current position of the vehicle 10 is calculated by satellite navigation, the offset voltage of the acceleration sensor 11b described above is not corrected. However, the present invention is not limited to this, and satellite navigation is performed. Accordingly, the offset voltage of the acceleration sensor 11b described above may be corrected when the current position of the vehicle 10 is calculated.
(3) You may combine each embodiment and modification which were mentioned above, respectively.

  In the above-described embodiment and its modifications, for example, the receiving means is the counter 106, the turning angle detecting means is the gyro sensor 11a, the tilt angle detecting means is the acceleration sensor 11b, and the GPS signal receiving means is the GPS sensor 11c. The acceleration sensors correspond to the ABS acceleration sensors 12a to 12d, respectively. The current position calculating means and the inclination angle correcting means are realized by the CPU 101 and a control program stored in the memory 102 executed by the CPU 101. The above description is merely an example, and when interpreting the invention, there is no limitation or restriction on the correspondence between the items described in the above embodiment and the items described in the claims.

It is a figure which shows the whole structure of the car navigation apparatus of this Embodiment. It is a figure which shows the structure of the vehicle (vehicle 10) by which the car navigation apparatus of this Embodiment is mounted. It is a figure which shows the relationship between the vehicle and the inclined road. 5 is a flowchart showing an operation of a process for calculating a current position of the vehicle 10 and displaying it on the display monitor 14.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Car navigation apparatus 10 Vehicle 11 Present location detection apparatus 11a Gyro sensor 11b Acceleration sensor 11d Vehicle speed sensor 12a-12d Acceleration sensor for ABS 14 Display monitor 100 Control apparatus 101 CPU
106 Counter 109 Map storage device 112 I / F

Claims (6)

Receiving means for receiving a signal relating to the mileage of the vehicle;
A turning angle detecting means for detecting a turning angle in the left-right direction of the vehicle;
An inclination angle detecting means for detecting an inclination angle of the vehicle in the front-rear direction;
A signal relating to the travel distance of the vehicle received by the receiving means; a turning angle in the left-right direction of the vehicle detected by the turning angle detecting means; and a tilt angle in the front-rear direction of the vehicle detected by the tilt angle detecting means; Based on the current position calculating means for calculating the current position of the vehicle;
Inclination angle correction means for correcting an inclination angle in the front-rear direction of the vehicle detected by the inclination angle detection means based on a signal obtained from an acceleration sensor provided in the vicinity of the wheel of the vehicle. Current position calculation device. In the present position calculation device according to claim 1,
The acceleration sensor used by the tilt angle correction means to correct the tilt angle in the longitudinal direction of the vehicle is an anti-lock brake that controls the braking force of the wheels so as to suppress the lock of the wheels according to the slip state of the wheels. A current position calculation device characterized by being an acceleration sensor used in a system (ABS). In the present position calculation device according to claim 2,
The tilt angle correcting means corrects the tilt angle in the front-rear direction of the vehicle detected by the tilt angle detecting means based on an average value of signals obtained from the acceleration sensors provided in the vicinity of the wheels of the vehicle. A current position calculating device. In the present position calculation device according to any one of claims 1 to 3,
GPS signal receiving means for receiving GPS signals from GPS satellites is further provided,
The current position calculating means includes a signal relating to a travel distance of the vehicle received by the receiving means, a turning angle in the left-right direction of the vehicle detected by the turning angle detecting means, and the vehicle detected by the tilt angle detecting means. Calculating the current position of the vehicle by autonomous navigation based on the inclination angle in the front-rear direction, and / or calculating the current position of the vehicle based on the GPS signal received by the GPS signal receiving means,
The inclination angle correction means is configured to detect the inclination based on a signal obtained from an acceleration sensor provided near a wheel of the vehicle when the current position calculation means cannot calculate the current position of the vehicle based on the GPS signal. A current position calculation apparatus for correcting an inclination angle of the vehicle in the front-rear direction detected by an angle detection means. A current position calculation device according to claim 1;
A vehicle comprising: an acceleration sensor provided in the vicinity of the wheel. The vehicle according to claim 5, wherein
The vehicle according to claim 1, wherein the acceleration sensor is an acceleration sensor used in an anti-lock brake system (ABS) that controls a braking force of a wheel so as to suppress a lock of the wheel according to a slip state of the wheel.

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