JP2010038889A - Current location calculation device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a current location calculation device capable of calculating a correct current location of a vehicle. <P>SOLUTION: The device is configured to calculate a horizontal direction circulating angular acceleration azc of the vehicle 10 by compensating an output of a gyroscope sensor 11a, whenever fulfilling with a condition in which the vehicle is circulating by a predetermined angle and the condition in which GPS signal can not be received by a GPS sensor 11c. Thereby, the position and the direction (travelling direction) of the vehicle can be calculated accurately, because the output value of the detected signal of the gyroscope sensor 11a can be compensated when the vehicle approaches into parking lot which has spiral slopes. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a current position calculation device that calculates a current position.

  2. Description of the Related Art A car navigation device is known that is mounted on a vehicle, calculates the current position of the vehicle, and displays it together with a surrounding map. In this car navigation device, the accumulated error of the azimuth data generated when the self-propelled multistory parking lot travels and repeats turning is corrected when entering the self-propelled multistory parking lot (see Patent Document 1). .

JP 2003-14479 A

  However, in the conventional car navigation device, since the direction data is not corrected (corrected) while traveling in the self-propelled multilevel parking lot, there is a possibility that the traveling direction of the vehicle cannot be calculated correctly in the parking lot. It was.

  A current position calculation device according to the present invention includes a turning state detection unit that detects a turning state of a vehicle, a turning angle calculation unit that calculates a turning angle of the vehicle based on an output of the turning state detection unit, and a transmission from the outside of the vehicle. Receiving means for receiving the transmitted wave, and the turning angle calculating means has a turn state detecting means when the calculated turning angle of the vehicle is not less than a predetermined angle and the receiving means cannot receive the transmitted wave. The output angle is corrected to calculate the turning angle of the vehicle.

  According to the present invention, the position of the vehicle can be accurately calculated.

  With reference to FIGS. 1 to 5, an embodiment in which a current position calculation device according to the present invention is applied to a car navigation device will be described. FIG. 1 is a diagram showing an overall configuration of the car navigation apparatus according to the present embodiment. The car navigation device 1 relates to vehicle travel, such as a function for displaying a road map around a vehicle position, a function for calculating a recommended route from a departure place to a destination, and a function for performing route guidance based on the calculated recommended route. It also has a function to present information. 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 (current position) of a vehicle. For example, a gyro sensor 11 a for detecting a change in the traveling direction (turning state) of the vehicle, a GPS (Global Positioning System) satellite. The GPS sensor 11c for detecting the GPS signal, the vehicle speed sensor 11d for detecting the vehicle speed, and the like. Reference numeral 12 denotes an ignition switch for the vehicle.

  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, an A / D converter 104, a serial I / O 105, a counter 106, a graphic controller 107, an image memory 108, a map storage device 109, an interface (I / F) 110, 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 converter 104 is a converter that performs A / D conversion on the analog signal of the gyro sensor 11a. 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, for example, a counter that counts pulse signals output from the vehicle speed sensor 11d as the axle rotates.

  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 110 is an interface that receives a signal indicating the on / off state of the ignition switch 12 of the vehicle.

--- 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 calculates the current position of the vehicle and performs various navigations based on the information acquired by the current location detection device 11 and the road map data stored in the map storage device 109. . For example, the CPU 101 of the control device 100 displays the road map near the current position of the vehicle and the current position of the vehicle on the display monitor 14 so as to guide the driver along the route (recommended route) obtained by the route search. Control each part. The CPU 101 repeatedly executes the current position calculation process every predetermined period, calculates the movement amount of the vehicle 10 from the previous calculation time to the current calculation time, and calculated this time from the current position calculated at the previous calculation time. The position after being moved by the moving amount is calculated as the current position of the vehicle 10. Note that the CPU 101 also performs a known map matching process.

--- About the error of the gyro sensor 11a when traveling on a self-propelled multistory parking lot ---
For example, in a self-propelled underground parking lot or a self-propelled multistory parking lot, from the level (usually the first floor) where the parking lot entrance is provided to the other level (parking floor) where the parking space is provided Need to travel on the slope. Self-propelled underground parking lots are often found in cities such as Paris, France, where importance is placed on the cityscape, and where it is difficult to install new parking lots on the ground. When the vehicle 10 travels on the slope, the vehicle 10 is inclined in the front-rear direction at substantially the same angle as the inclination angle of the slope. Therefore, the gyro sensor 11 a mounted on the vehicle 10 is also inclined together with the vehicle 10. Generally, the gyro sensor 11a has a large output value error unless the installation angle is kept horizontal. For example, the gyro sensor 11a travels on a spiral slope as shown in FIG. If the vehicle 10 turns with the vehicle inclined, an error in the calculated turning angle of the vehicle 10 also increases. Further, as shown in FIG. 2, in the slope for going to the underground parking lot, the GPS signal from the GPS satellite is blocked and cannot be received by the GPS sensor 11c. , The direction of travel cannot be detected.

  For example, an acceleration sensor that detects the tilt angle of the vehicle 10 in the front-rear direction is provided in the car navigation device 1, and the detection signal output from the gyro sensor 11 a is output based on the tilt angle in the front-rear direction of the vehicle 10 detected by the acceleration sensor. By correcting the value, the turning angle of the vehicle 10 can be calculated correctly. However, the production cost of the car navigation device 1 increases due to the installation of the acceleration sensor.

  Therefore, in the car navigation device 1 according to the present embodiment, for example, when it is estimated that the vehicle is traveling on a spiral slope toward the basement, the traveling direction of the vehicle is corrected as follows.

In the following description, a case where the vehicle enters an underground parking lot provided with a spiral slope as shown in FIG. 2 will be described as an example. The CPU 101 determines whether or not the vehicle 10 is off the road based on the calculated own vehicle position, the parking lot installation position included in the road map data, and the output from the gyro sensor 11a. For example, the CPU 101 detects that the vehicle 10 is directed in a direction different from the extending direction of the road based on information about the road included in the road map data, an output from the gyro sensor 11a, and the like (this condition is a condition. Further, for example, it is determined whether or not the following conditions (b) to (d) are satisfied.
(B) The vehicle speed is equal to or lower than a predetermined speed (for example, 30 km / hr) (c) The vehicle turns more than a predetermined angle (for example, 360 degrees) (d) GPS signal cannot be received by the GPS sensor 11c

  That is, it is estimated that the vehicle 10 enters the underground parking lot provided with the spiral slope by satisfying the above-described conditions (a) to (d). In general, the slope of the slope of the underground parking lot is often set to about 5 degrees, for example. Therefore, in the car navigation device 1 according to the present embodiment, the vehicle 10 is inclined by a predetermined angle θ1 (for example, 5 degrees) so that the front side of the vehicle 10 is down by satisfying the above-described conditions. Assuming that the gyro sensor 11a is inclined by the predetermined angle θ1 so that the front side of the vehicle 10 is down, the output of the gyro sensor 11a is corrected (down slope correction).

The gyro sensor 11a outputs a voltage corresponding to the magnitude of angular acceleration given to the gyro sensor 11a. For example, it is assumed that the gyro sensor 11a is a sensor that detects angular acceleration with the Z axis as the rotation center as shown in FIG. Here, when the inclination of the gyro sensor 11a is 0 degree, that is, when the Z axis of the gyro sensor 11a in FIG. 3 is directed upward in the vertical direction, an angle represented by the magnitude of the voltage output from the gyro sensor 11a. Accelerate the acceleration (gyro output angular acceleration). Further, as shown in FIG. 4A, the Z axis of the gyro sensor 11a and the vertical direction when the vehicle 10 is placed on a horizontal road surface with the car navigation device 1 mounted on the vehicle 10 An angle difference, that is, an attachment angle of the gyro sensor 11a with respect to the vehicle 10 is defined as θoff. As shown in FIG. 4B, when the angle at which the road is inclined from the horizontal plane with respect to the traveling direction of the vehicle 10 is θr, the turning angular acceleration azc in the horizontal direction of the vehicle 10 is expressed by the following equation (1). Is done.
azc = azj × (cos (θr + θoff)) (1)
Here, θr and θoff assume positive values when tilted counterclockwise in FIG. 4 (so that the front side of the vehicle 10 is down).

  That is, in the car navigation device 1 of the present embodiment, the CPU 101 satisfies the above-described conditions (a) to (d), sets θr in the equation (1) to a predetermined angle θ1 (adds θ1 to θoff) ), The turning angular acceleration azc in the horizontal direction of the vehicle 10 is calculated by correcting the output of the gyro sensor 11a with a downward gradient. Then, by integrating the calculated turning angular acceleration azc with time, the turning angle θc in the horizontal direction of the vehicle 10 from the previous calculation time to the current calculation time is calculated. Then, the CPU 101 calculates the turning angle θc in the horizontal direction of the vehicle 10 calculated in this way, the travel distance of the vehicle 10 calculated based on the output of the vehicle speed sensor 11d, the current position of the vehicle 10 at the time of the previous calculation, and the vehicle The current position of the vehicle 10 and the direction of the vehicle 10 at the time of the current calculation are calculated from the direction of 10 and the like. After calculating the current position of the vehicle 10 and the direction of the vehicle 10, the CPU 101 displays a mark (car mark) indicating the current position of the vehicle 10 on the display monitor 14 together with the road map.

  Note that, when the conditions (a) to (d) described above are satisfied for the first time after the ignition switch 12 is turned on, the CPU 101 goes back to the time when it is determined that the vehicle 10 has started turning. The horizontal turning angle θc of the vehicle 10 is calculated with the output corrected for downward gradient. Then, 1 is set in the flag (downhill gradient flag). The downward gradient flag is a flag that indicates whether or not downward gradient correction that has been traced back to the turning start time of the vehicle 10 at the time of the previous calculation has already been performed.

  When it is determined that the vehicle 10 has stopped turning, the CPU 101 stops the downward gradient correction described above. That is, θr in equation (1) is set to 0 degree, and the turning angular acceleration azc in the horizontal direction of the vehicle 10 and the turning angle θc in the horizontal direction of the vehicle 10 are calculated. In addition, when it is determined that the vehicle 10 has stopped turning, the CPU 101 sets 0 to the downward gradient flag.

When the vehicle 10 returns from the underground parking lot to the ground road, it is necessary to go up the spiral slope, but in this case as well, it is necessary to correct the output of the gyro sensor 11a. Therefore, in the car navigation device 1 of the present embodiment, for example, when the following conditions (e) to (g) are satisfied, the vehicle 10 is reversed from the underground parking lot provided with the spiral slope, contrary to the above case. Presume that you are going to participate. Then, assuming that the gyro sensor 11a is inclined by the predetermined angle θ1 so that the front side of the vehicle 10 is on the upper side, the output of the gyro sensor 11a is corrected (uphill correction).
(E) The ignition switch 12 of the vehicle 10 is turned on (f) After that, the conditions (b) to (d) described above are satisfied (g) When the ignition switch 12 was previously turned on (the ignition switch 12 is Before turning off), the slope was corrected, and then the vehicle 10 was going straight

  That is, when the above-described conditions (e) to (g) are satisfied, the CPU 101 subtracts θ1 from θoff in the equation (1) and corrects the output of the gyro sensor 11a in the horizontal direction by correcting the upward gradient. The turning angular acceleration azc is calculated. Then, the turning angle θc in the horizontal direction of the vehicle 10 is calculated by time integration of the calculated turning angular acceleration azc. Then, the CPU 101 calculates the turning angle θc in the horizontal direction of the vehicle 10 calculated in this way, the travel distance of the vehicle 10 calculated based on the output of the vehicle speed sensor 11d, the current position of the vehicle 10 at the time of the previous calculation, and the vehicle The current position of the vehicle 10 and the direction of the vehicle 10 at the time of the current calculation are calculated from the direction of the ten. After calculating the current position of the vehicle 10 and the direction of the vehicle 10, the CPU 101 displays a mark (car mark) indicating the current position of the vehicle 10 on the display monitor 14 together with the road map.

  It should be noted that when the CPU 101 satisfies the above-described conditions (e) to (g) for the first time after the ignition switch 12 is turned on, the CPU 101 goes back to the time when the vehicle 10 is determined to start turning. The horizontal turning angle θc of the vehicle 10 is calculated with the output corrected ascending. Then, 1 is set in the flag (uphill gradient flag). The upslope flag is a flag that indicates whether or not the upslope correction that has been traced back to the turning start time of the vehicle 10 at the time of the previous calculation has already been performed.

  When it is determined that the vehicle 10 has stopped turning, the CPU 101 stops the upward gradient correction described above. That is, θr in equation (1) is set to 0 degree, and the turning angular acceleration azc in the horizontal direction of the vehicle 10 and the turning angle θc in the horizontal direction of the vehicle 10 are calculated. In addition, when it is determined that the vehicle 10 has stopped turning, the CPU 101 sets 0 to the ascending gradient flag. When it is determined that the GPS signal can be received by the GPS sensor 11c, the CPU 101 may stop the above-described upward gradient correction, assuming that the vehicle 10 has entered the ground.

--- Flow chart ---
FIG. 5 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 an accessory switch (not shown) is turned on (ACC ON) by an ignition key (not shown) of the vehicle, the power of the car navigation device 1 is turned on, and a program for performing the processing shown in FIG. The In step S1, 0 is set in the downward gradient flag and the upward gradient flag, and the process proceeds to step S2. In step S2, each information from the current location detection device 11, road map data, and the like are read, and the process proceeds to step S3. In step S3, it is determined whether or not 1 is set in the downward gradient flag. At the time of the first calculation after the accessory switch is turned on, 0 is set in the downward gradient flag, so a negative determination is made in step S3.

  If a negative determination is made in step S3, the process proceeds to step S5, and it is determined whether or not 1 is set in the upslope flag. At the time of the first calculation after the accessory switch is turned on, 0 is set in the upslope flag, so a negative determination is made in step S5. If a negative determination is made in step S5, the process proceeds to step S7, and the current position of the vehicle 10 is calculated based on each information from the current position detection device 11 read in step S2. Note that the current position calculation process of the vehicle 10 in step S7 is similar to the conventional current position calculation process and is well known, and thus the description thereof is omitted.

  In step S9, it is determined whether upward gradient correction is necessary. That is, in step S9, it is determined whether or not the above-described conditions (e) to (g) are satisfied. If a negative determination is made in step S9, the process proceeds to step S11, and it is determined whether or not a downward gradient correction is necessary. That is, in step S11, it is determined whether or not the above-described conditions (a) to (d) are satisfied. If a negative determination is made in step S11, the process proceeds to step S13, and each part 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. The process proceeds to step S15. In step S15, it is determined whether or not the ignition switch 12 is turned off. If a positive determination is made in step S15, the program ends. If a negative determination is made in step S15, the process returns to step S2.

  If the determination in step S11 is affirmative, the process proceeds to step S21, and the turning angle θc in the horizontal direction of the vehicle 10 is assumed to be obtained by correcting the downward gradient of the output of the gyro sensor 11a retroactively to the time point when the vehicle 10 is determined to start turning. Is calculated and the process proceeds to step S23. In step S23, the downward gradient flag is set to 1, and the process proceeds to step S25. In step S25, the current position of the vehicle 10 is calculated using the corrected turning angle θc, and the process proceeds to step S13.

  If an affirmative determination is made in step S9, the process proceeds to step S41 and the turning angle θc in the horizontal direction of the vehicle 10 is assumed to be obtained by correcting the upward gradient of the output of the gyro sensor 11a retroactively to the time point when the vehicle 10 is determined to start turning. Is calculated and the process proceeds to step S43. In step S43, 1 is set in the upslope flag, and the process proceeds to step S25.

  If an affirmative determination is made in step S5, the process proceeds to step S51, and it is determined whether it is necessary to continue ascending slope correction. In step S51, when it is determined that the vehicle 10 has stopped turning, it is determined that continuation of the upward gradient correction is not necessary, and when it is determined that the vehicle 10 continues to turn, the upward gradient correction is performed. It is determined that continuation is necessary. If an affirmative determination is made in step S51, the process proceeds to step S53, and ascending slope correction is performed for the calculation of the turning angle θc between the previous calculation and the current calculation, and the process proceeds to step S39. In step S39, the current position of the vehicle 10 is calculated using the calculated turning angle θc, and the process proceeds to step S13.

  If a negative determination is made in step S51, the process proceeds to step S55, the turning angle θc from the previous calculation time to the current calculation time is calculated without performing upward gradient correction, and the process proceeds to step S57. In step S57, 0 is set in the upward gradient flag, and the process proceeds to step S39.

  If an affirmative determination is made in step S3, the process proceeds to step S31 to determine whether or not it is necessary to continue the downward gradient correction. In step S31, when it is determined that the vehicle 10 has stopped turning, it is determined that continuation of the downward gradient correction is not necessary, and when it is determined that the vehicle 10 continues to turn, the downward gradient correction is performed. It is determined that continuation is necessary. If an affirmative determination is made in step S31, the process proceeds to step S33, and a downward gradient correction is performed for the calculation of the turning angle θc between the previous calculation and the current calculation, and the process proceeds to step S39.

  If a negative determination is made in step S31, the process proceeds to step S35, and the turning angle θc between the previous calculation and the current calculation is calculated without performing downward gradient correction, and the process proceeds to step S37. In step S37, the downward gradient flag is set to 0, and the process proceeds to step S39.

The car navigation device 1 described above has the following operational effects.
(1) When the above-described conditions are satisfied, the output of the gyro sensor 11a is corrected. Thus, when the vehicle enters a parking lot having a spiral slope, the output of the gyro sensor 11a can be corrected, so that the position and orientation (traveling direction) of the vehicle can be accurately calculated. Moreover, since it is not necessary to provide the car navigation apparatus 1 with an acceleration sensor or the like that detects the tilt angle of the vehicle 10 in the front-rear direction, the manufacturing cost of the car navigation apparatus 1 can be reduced. Furthermore, the route guidance after leaving the vehicle can be accurately performed by correctly calculating the current position and the traveling direction of the vehicle 10 when the parking lot appears (leaves).

(2) By satisfying the above-described conditions (a) to (d), it is estimated that the vehicle 10 enters an underground parking lot provided with a spiral slope, and the gyro sensor 11a is It is configured to correct the output of the gyro sensor 11a assuming that it is inclined by a predetermined angle θ1 so as to be downward. This makes it possible to accurately determine the position and traveling direction of the vehicle when entering the underground parking lot having a spiral slope without providing an acceleration sensor or the like for detecting the tilt angle in the front-rear direction of the vehicle 10 in the car navigation device 1. Can be calculated. Therefore, the above-described effect is particularly high in the car navigation device 1 used in an area where many underground parking lots having a spiral slope are provided.

(3) By satisfying the above-described conditions (a) to (d), it is assumed that the output of the gyro sensor 11a has been subjected to the downward gradient correction from the time point when it is determined that the vehicle 10 has started to turn. The turning angle θc in the direction is calculated. Thereby, the calculation accuracy of the position and traveling direction of the vehicle when entering an underground parking lot having a spiral slope can be further improved.

(4) By satisfying the above-described conditions (e) to (g), it is estimated that the vehicle 10 is going to enter the underground parking lot provided with the spiral slope, and the gyro sensor 11a is The output of the gyro sensor 11a is corrected on the assumption that it is inclined by a predetermined angle θ1 so that the front side of the gyro sensor is on the upper side. Thereby, even when leaving from an underground parking lot having a spiral slope, the position and traveling direction of the vehicle can be accurately calculated.

(5) By satisfying the above-described conditions (e) to (g), it is assumed that the output of the gyro sensor 11a has been corrected for the upward gradient retroactively to the time point when the vehicle 10 is determined to start turning. The turning angle θc in the direction is calculated. Thereby, the calculation accuracy of the position and traveling direction of the vehicle when leaving from an underground parking lot having a spiral slope can be further improved.

---- Modified example ---
(1) In the above description, the configuration is such that the downward gradient correction is performed when the conditions (a) to (d) are satisfied, and the upward gradient correction is performed when the conditions (e) to (g) are satisfied. However, the present invention is not limited to this. For example, you may comprise so that downward gradient correction | amendment may be performed, if at least conditions (c) and (d) are satisfy | filled among conditions (a)-(d) mentioned above. Moreover, you may comprise so that an upslope correction may be performed if conditions (e), (g) and conditions (c) are satisfy | filled among conditions (e)-(g) mentioned above.

(2) In the above description, the operation of the car navigation device 1 when the vehicle 10 uses an underground parking lot has been described. However, this is a case where the vehicle 10 enters a spiral slope toward the upper floor provided on the ground. However, the present invention can be applied. In the above description, the slope in FIG. 2 is a slope that is substantially circular when represented in plan view, but the present invention is not limited to this. For example, the slope may be a substantially square when represented by a plan view, or may be a slope that is a combination of a semicircle and a straight line, such as a track in a sports field.

(3) In the above description, the configuration is such that the downward gradient correction is performed when the conditions (a) to (d) are satisfied, and the upward gradient correction is performed when the conditions (e) to (g) are satisfied. However, the present invention is not limited to this. For example, if the road map data includes information indicating whether the parking lot is a multilevel parking lot located underground or a multilevel parking lot provided on the ground, this information can be used to When entering or exiting, it may be determined whether to perform downward gradient correction or upward gradient correction.

(4) In the above description, the case of entering or exiting a parking lot provided with a spiral slope has been described, but the present invention is not limited to this. For example, the present invention can be applied to a case where the vehicle travels in a loop path other than the slope of the parking lot. In addition, if it is a loop-shaped passage, it may be a road such as a general road or an expressway, or may be a passage in a building or facility. Further, the present invention is not limited to a spiral slope or road in which the vehicle 10 draws substantially the same trajectory when viewed from above, but also when the vehicle 10 travels on a sloping road (mountain road). Can be applied. In this case, for example, it may be determined whether to perform the downward gradient correction or the upward gradient correction from the traveling direction of the vehicle with respect to the slope. In addition, if the road map data includes elevation information of the slope, the slope angle of the slope is calculated from the elevation data, and θr in the above-described equation (1) is calculated as the slope angle calculated from the elevation data. The output of the gyro sensor 11a may be corrected.

(5) In the above description, when the conditions (e) to (g) are satisfied, the output of the gyro sensor 11a is corrected for upward gradient, but the present invention is not limited to this. For example, when the GPS signal is received by the GPS sensor 11c while the vehicle 10 is traveling, the above-described upward gradient correction may be performed on the assumption that the vehicle is moving toward the ground. At this time, if correction is performed retroactively to the turning start time of the vehicle 10, the current position and traveling direction of the vehicle 10 are correctly calculated when the vehicle 10 comes out on the ground. Can be implemented accurately.

(6) In the above description, as one of the conditions for determining whether or not to correct the output of the gyro sensor 11a, the presence or absence of reception of a GPS signal by the GPS sensor 11c is cited. It is not limited to. If it is possible to detect whether or not the vehicle 10 has entered a place where the GPS signal cannot be received (for example, underground), instead of the presence or absence of the reception of the GPS signal, The presence or absence of a transmission wave transmitted from the outside of the vehicle 10, such as a broadcast wave of a television or radio, may be used as a condition for determining whether to correct the output of the gyro sensor 11a.
(7) You may combine each embodiment and modification which were mentioned above, respectively.

  Note that the present invention is not limited to the above-described embodiment, and a turning state detection unit that detects the turning state of the vehicle and a turn that calculates the turning angle of the vehicle based on the output of the turning state detection unit. An angle calculating means and a receiving means for receiving a transmission wave transmitted from the outside of the vehicle, wherein the turning angle calculating means has a calculated turning angle of the vehicle equal to or greater than a predetermined angle, and the receiving means transmits the transmitted wave. In this case, the present invention includes a current position calculation device of various structures, wherein the vehicle turning angle is calculated by correcting the output of the turning state detection means.

1 is a diagram illustrating an overall configuration of a car navigation device 1. FIG. It is a figure which shows typically an example of the spiral slope which reaches an underground parking lot. It is a figure explaining the angular acceleration detected by the gyro sensor 11a. It is a figure explaining the mounting state to the vehicle 10 of the gyro sensor 11a. 5 is a flowchart showing an operation of processing 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 11c GPS sensor 11d Vehicle speed sensor 12 Ignition switch 14 Display monitor 100 Control apparatus 101 CPU
102 memory 109 map storage device

Claims (6)

A turning state detecting means for detecting a turning state of the vehicle;
A turning angle calculating means for calculating a turning angle of the vehicle based on an output of the turning state detecting means;
Receiving means for receiving a transmission wave transmitted from the outside of the vehicle,
The turning angle calculation means corrects the output of the turning state detection means and corrects the output of the vehicle when the calculated turning angle of the vehicle is not less than a predetermined angle and the receiving means cannot receive the transmission wave. A current position calculation device that calculates a turning angle. In the present position calculation device according to claim 1,
When the calculated turning angle of the vehicle is equal to or greater than a predetermined angle and the receiving means cannot receive the transmission wave, the vehicle is going down the road having the predetermined inclination angle. As a thing, the present position calculation apparatus characterized by calculating the turning angle of the vehicle by correcting the output of the turning state detecting means. In the present position calculation device according to claim 2,
When the calculated turning angle of the vehicle is equal to or greater than a predetermined angle and the receiving means cannot receive the transmission wave, the vehicle is going down the road having the predetermined inclination angle. As a thing, the present position calculation apparatus characterized by calculating the turning angle of the said vehicle by correcting the output of the said turning state detection means retroactively to the time of the turning start of the said vehicle. In the present position calculation apparatus as described in any one of Claim 2 or Claim 3,
An ignition switch on / off state detecting means for detecting an on / off state of the ignition switch of the vehicle;
When the turning angle calculation unit calculates the turning angle of the vehicle by correcting the output of the turning state detection unit on the assumption that the vehicle is going down the road having the predetermined inclination angle, the turning state detection is performed thereafter. Based on the output of the means, it is determined that the vehicle has traveled straight, and then the ignition switch on / off state detection means detects that the ignition switch is turned off and is further turned on, and then calculates the turning angle of the vehicle If the angle is equal to or greater than a predetermined angle, the current position calculation device calculates the turning angle of the vehicle by correcting the output of the turning state detecting means. In the present position calculation device according to claim 4,
When the turning angle calculation unit calculates the turning angle of the vehicle by correcting the output of the turning state detection unit on the assumption that the vehicle is going down the road having the predetermined inclination angle, the turning state detection is performed thereafter. Based on the output of the means, it is determined that the vehicle has traveled straight, and then the ignition switch on / off state detection means detects that the ignition switch is turned off and is further turned on, and then calculates the turning angle of the vehicle If the vehicle is equal to or greater than a predetermined angle, it is assumed that the vehicle is going up the road having the predetermined inclination angle, and the turning angle of the vehicle is calculated by correcting the output of the turning state detecting means. Current position calculation device. In the present position calculation device according to claim 5,
When the turning angle calculation unit calculates the turning angle of the vehicle by correcting the output of the turning state detection unit on the assumption that the vehicle is going down the road having the predetermined inclination angle, the turning state detection is performed thereafter. Based on the output of the means, it is determined that the vehicle has traveled straight, and then the ignition switch on / off state detection means detects that the ignition switch is turned off and is further turned on, and then calculates the turning angle of the vehicle If the vehicle is above a predetermined angle, the vehicle goes up the road with the predetermined inclination angle retroactively to the turning start time of the vehicle after the ignition switch is turned off and turned on. A current position calculating device, wherein the turning angle of the vehicle is calculated by correcting the output of the turning state detecting means.

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