JP2010223692A - Moving position detection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a moving position detection device specifying an interpolation position close to an actual azimuth by an inexpensive and small-sized device without using a gyro sensor or an acceleration sensor. <P>SOLUTION: This device is provided with: a GPS device 11 for specifying a GPS positioning position at every fixed period (T); a vehicle-speed pulse generation device 12; and a calculation device 13 for specifying the interpolation position by determining a moving distance at every unit time (Δt) in the fixed period (T) from specification of the preceding GPS positioning position until specification of a new GPS positioning position. The calculation device 13 specifies an average interpolation position from a plurality of interpolation positions including a GPS positioning position at the nearest past fixed time (ΔT) which is shorter than the fixed period (T) among interpolation positions specified at every unit time (Δt), uses an azimuth from the preceding average interpolation position to the newest average interpolation position as an estimated azimuth from the preceding interpolation position to the newest interpolation position, and specifies the newest interpolation position by using the estimated azimuth and the moving distance at the preceding unit time (Δt). <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a moving position detection device that is mounted on a moving body and detects a moving position and the like of the moving body.

  2. Description of the Related Art Conventionally, a navigation system for a vehicle is well known as a moving position detection device that is mounted on a moving body and detects a moving position of the moving body.

  In this navigation system, a current position of a moving body is obtained by receiving radio waves (hereinafter simply referred to as “GPS radio waves”) from GPS satellites and specifying latitude and longitude, and a gyro sensor or acceleration sensor. Is used to correct the current position of the moving body in a tunnel or the like where it is difficult to receive GPS radio waves.

  However, in such a navigation system, since the current position of the moving body is developed on a monitor-displayed map, a large amount of map information is required and a gyro sensor and an acceleration sensor must be mounted. Together with this, there has been a problem that it is difficult to mount on a small vehicle such as a motorcycle.

  Further, in such a navigation system, using the position information or the like, ASV (Advanced Safety Vehicle) that performs collision prevention and safe driving support by mutually communicating the current position and the traveling direction between the own vehicle and the other vehicle. ) And the like are known.

JP 2008-058096 A

  However, the positioning for obtaining the current position of the moving body by receiving GPS radio waves and specifying the latitude and longitude (hereinafter simply referred to as “positioning by GPS”) exceeds 1 second or 1 second as a fixed period (T). Although it can be obtained at intervals, when it is used for a collision prevention safety device such as ASV, there is a problem that sufficient services are not provided at intervals exceeding 1 second or 1 second.

  Further, when the current position is corrected / interpolated by GPS positioning, such as during the above-described fixed period (T) or when the GPS radio wave reception state is poor, a plurality of vehicle speed pulse sensors, gyro sensors, acceleration sensors, etc. It is not only necessary to install the sensor of the vehicle and perform self-sustained navigation, but also a large-capacity memory for storing the electronic map data for performing the matching process using the electronic map information is required. The problem of becoming a factor of enlargement has arisen.

  Also, when carrying out self-sustained navigation using a gyro sensor or acceleration sensor, especially in motorcycles, etc., it is assumed that the gyro sensor and acceleration sensor are installed horizontally in order to perform curve driving etc. with a bank angle. The correction method similar to that of the four-wheeled vehicle has a problem that an appropriate route cannot be obtained.

  Furthermore, by connecting the past two current positions (information = latitude and longitude) obtained by GPS positioning without using a gyro sensor or acceleration sensor, a travel locus is formed, and the travel locus is linearly extended as it is. Assuming the current driving direction, and trying to interpolate the current position from that direction and the vehicle speed pulse obtained by the vehicle speed pulse sensor, the specified interpolation position will swell outward even during curve driving There was a problem that an error occurred.

  Therefore, in consideration of the above circumstances, the present invention provides a moving position detection device that can specify an interpolation position close to an actual orientation with an inexpensive and small device without using a gyro sensor or an acceleration sensor. Objective.

  The moving position detecting device of the present invention is a moving position detecting device that is mounted on a moving body and detects the moving position, and by receiving radio waves from a GPS satellite and specifying the latitude and longitude, A GPS position measuring means for specifying a GPS positioning position indicating a position for every fixed period (T), a moving distance detecting stage for detecting a moving distance of a moving body, and a previous GPS positioning position by the GPS position measuring means. Interpolating position specifying means for determining a moving distance per unit time (Δt) in a fixed period (T) from when the new GPS positioning position is specified to specify an interpolation position indicating the position of the apparatus main body. The interpolation position specifying means calculates an average from a plurality of interpolation positions including the GPS positioning position in the latest past fixed time (ΔT) shorter than the fixed period (T) among the interpolation positions specified every unit time (Δt). And the direction from the previous average interpolation position to the latest average interpolation position is set as the estimated direction from the previous interpolation position to the latest interpolation position. Δt) The latest interpolation position is specified using the movement distance after elapse.

  According to the moving position detection apparatus of the present invention, it is possible to specify an interpolation position close to an actual direction with an inexpensive and small apparatus without using a gyro sensor or an acceleration sensor.

  According to a second aspect of the present invention, in the moving position detecting device, the set time of the past fixed time (ΔT) and the fixed period (T) of the GPS positioning position in the average interpolation position specification of the interpolation position specifying means are ΔT / T = 0. .7 to 0.8.

  According to the moving position detection apparatus of the second aspect, it is possible to specify a stable interpolation position throughout the straight traveling and the curved traveling.

  According to a third aspect of the present invention, there is provided a moving position detecting device including a moving state determining means for determining whether the moving state is a straight movement state or a turning movement state, and the past fixed time (ΔT ) To change the set time and specify the average interpolation position.

  According to the moving position detecting device of the third aspect, it is possible to set a past fixed time (ΔT) that is different between the straight traveling and the curved traveling, and to specify a stable interpolation position according to the traveling state. .

  5. The moving position detecting device according to claim 4, wherein the moving state discriminating means uses at least two types of long and short interpolating units using a unit time (Δta) and (Δtb) of a past fixed time (ΔT). A position is specified, and a unit time (Δta) or a unit time (Δtb) with the least error is selected from among the plurality of interpolation positions, and the movement state is determined. Discrimination is performed every fixed period (T) of the GPS positioning position several times, and the interpolation position is specified using the unit time (Δta) or unit time (Δtb) selected until the next movement state discrimination time. And

  According to the moving position detecting device of the fourth aspect of the present invention, it is possible to further travel by using two types of unit time (Δta) and (Δtb) of the past fixed time (ΔT) during linear traveling and during curved traveling. A stable interpolation position can be specified according to the state.

  The moving position detection device of the present invention can specify an interpolation position close to the actual direction with an inexpensive and small device without using a gyro sensor or an acceleration sensor.

It is explanatory drawing of the movement position detection apparatus which concerns on one Embodiment of this invention. It is explanatory drawing of the interpolation position specific principle using the movement position detection apparatus which concerns on one Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is explanatory drawing which compares each error of the interpolation position using the moving position detection apparatus which concerns on one Embodiment of this invention, and the conventional interpolation position, (A) is a whole explanatory drawing, (B) is two of (A). It is an enlarged view of the part enclosed with the dashed-dotted line. It is explanatory drawing which compares the case where the past fixed time ((DELTA) T) of the moving position detection apparatus which concerns on one Embodiment of this invention is changed, (A) is whole explanatory drawing, (B) is the dashed-two dotted line of (A). It is an enlarged view of the part enclosed by.

  Next, an example of the movement position detection device according to the embodiment of the present invention will be described with reference to the drawings. In addition, although the Example shown below is a suitable specific example in the moving position detection apparatus of this invention, and there may be a technically preferable various limitation, the technical scope of this invention is especially this invention. Unless otherwise specified, the present invention is not limited to these embodiments. In addition, since the position is specified by calculating the latitude and longitude using radio waves received from GPS satellites, the calculated data itself is a substantial position. Therefore, in the following description, unless otherwise specified, for convenience, data = position and calculation = specification will be described.

FIG. 1 is an explanatory diagram of a moving position detecting device according to an embodiment, and an explanatory diagram of an interpolation position specifying principle using the moving position detecting device of one embodiment of the present invention. As shown in FIG. The moving position detection apparatus 10 according to the embodiment is mounted on a moving body such as a motorcycle (not shown) and detects its moving position (current position). The moving position detection apparatus 10 receives a radio wave from a GPS satellite (not shown) as a moving body. A GPS device 11 as a GPS position positioning means that identifies the current position of the moving position detection device 10 as a GPS positioning position at a constant period (T), and a vehicle speed as a moving distance detection stage for detecting the moving distance of the moving body Movement per unit time (Δt) during a fixed period (T) from when the GPS positioning position is specified by the pulse generator 12 and the GPS apparatus 11 until the new GPS positioning position is specified A calculation device 13 as an interpolation position specifying means for obtaining the separation and specifying the interpolation position of the movement position detecting device 10, a timer 14 for measuring the position specifying timing, and a memory 15 such as a RAM for storing each specified position. And.

  In addition, since the well-known thing is used for the GPS apparatus 11 and the vehicle speed pulse generator 12, the calculation means 13 is demonstrated in the following description. Moreover, since the moving position detection apparatus 10 of the present invention does not require map data, a gyro sensor, and an acceleration sensor in a car navigation system, these will be described as not being mounted. Accordingly, since the moving position detection device 10 of the present invention is equipped with a vehicle speed pulse generator 12 as a standard device for a distance meter as a new device to be mounted on the vehicle body, only the GPS device 11 and the calculation device 13 described above are included. It becomes. In addition, when using the moving position detection apparatus 10 of this invention for collision prevention safety apparatuses, such as ASV, well-known apparatuses, such as a separate alerting means, such as a buzzer, a lamp, and a vibrator, and a deceleration mechanism, are needed.

  The calculation device 13 specifies the interpolation position by the pulse signal output from the vehicle speed pulse generator 12 every unit time (Δt) after the GPS positioning position is specified by the GPS device 11.

  In addition, first, every time the GPS device 11 specifies the GPS positioning position and every time the interpolation position is specified, the calculation device 13 uses each position in the past fixed time (ΔT) that goes back from the specification time. To specify the average interpolation position.

  Furthermore, the calculation device 13 sets the azimuth from the previous average interpolation position to the latest average interpolation position as the estimated azimuth from the previous interpolation position to the latest interpolation position, and unit time (Δt from the estimated azimuth and the previous interpolation position. ) The latest interpolation position is specified using the movement distance after the elapse.

  At this time, the calculation device 13 has a relationship of ΔT ≦ T between the set time of the past fixed time (ΔT) and the fixed period (T) of the GPS positioning position when specifying the average interpolation position. (ΔT) may be replaced with a specific number of interpolation positions per unit time (Δt) (for example, the past three times).

  Moreover, the calculation device 13 sets ΔT / T = 0.7 to 0.8 as the set time of the past fixed time (ΔT) and the fixed cycle (T) of the GPS positioning position when specifying the average interpolation position. Is preferred.

  Further, the calculation device 13 also serves as a movement state determination means for determining whether the movement is in the straight movement state or the rotation movement state, and a set time of the past fixed time (ΔT) for specifying the average interpolation position between the straight movement and the turning movement. May be changed to specify the average interpolation position.

  At this time, the calculation device 13 specifies at least two types of interpolation positions using at least two types of unit time (Δta) and unit time (Δtb) corresponding to the past fixed time (ΔT), The unit time (Δta) or the unit time (Δtb) with the least error is selected for the new GPS positioning position from among the interpolation positions, and the moving state is determined, and the moving state is determined several times by GPS positioning. The interpolation position may be specified by using the unit time (Δta) or the unit time (Δtb) selected until the next movement state determination time, which is performed every fixed period (T) of the position.

  Hereinafter, specific functions of the moving position detection apparatus 10 of the present invention will be described with reference to FIG.

In the following explanation,
A constant cycle (T) = 1 second, a unit time (Δt) = 0.25 seconds, and a past fixed time (ΔT) = 0.75 seconds will be described.

  2, P1 and P5 are GPS positioning positions (latitude / longitude) specified by the GPS device 11, P2 to P4 and P6 are specified interpolation positions (latitude / longitude), and A2 to A5 are average interpolation positions (latitudes). Longitude), D and D ′ are azimuths.

  Also, the solid line connecting P1 and P5 is the GPS positioning position reference travel locus connecting the GPS positioning positions, and the two-dot chain line extending from before P1 is the position of the GPS positioning position before specifying the GPS positioning position P1 and the GPS. The azimuth line of the conventional method (straight line method) obtained by linearly extending the GPS positioning position reference traveling locus between the past two points with the positioning position P1, and the one-dot chain line extending from P5 indicate the current traveling locus.

  Under such conditions, after specifying the interpolation position P6 and then specifying (predicting) a new interpolation position P7, that is, between the interpolation positions corresponding to the interpolation position P6 and the interpolation position P7 (actually the section). When the vehicle is traveling in the vicinity of the alternate long and short dash line corresponding to), first, the calculation device 13 sets each position P4 within the past fixed time (ΔT) (for the past three times) stored in the memory 15 as the already specified interpolation position. , P5, and P6, the latitudes and longitudes of the positions P4, P5, and P6 are added together, and then divided by the number of times (3 times) of the added positions P4, P5, and P6 to specify the average interpolation position A5. .

  Next, the calculation device 13 sets the direction from the already-specified average interpolation position A4 to the latest average interpolation position A5 as the actually traveled direction D, and estimates the direction D from the interpolation position P6 to the interpolation position P7. The direction is D ′.

  Further, the calculation device 13 determines the movement distance S from the previous interpolation position P6 to the latest interpolation position P7, that is, the movement distance S after a unit time (Δt) has elapsed from the previous interpolation position P6, as the vehicle speed pulse generator 12. Calculated by

  And the calculation apparatus 13 specifies the newest interpolation position P7 using these estimated azimuth | direction D 'and the movement distance S. FIG.

  By the way, a known speed sensor for a speedometer and a known yaw rate sensor for detecting a vehicle body tilt are mounted on the motorcycle separately from the position information detecting function. Therefore, for example, the estimated moving distance may be specified using a speed sensor. Further, by detecting the inclination of the vehicle body using a yaw rate sensor, it is discriminated whether it is a straight movement or a turning movement, and the past fixed time (ΔT) in the turning movement is longer than the past fixed time (ΔT) in the straight movement. The setting of the average interpolation position may be set to a stricter value by changing the setting time of (2) shorter (less times).

  3 and 4 are plots in which a motorcycle is run on a laptable test course such as a circuit field and the interpolation position is superimposed on a line connecting each GPS positioning position reception point. FIG. 3A is an explanatory diagram for comparing errors between an interpolation position using a moving position detection device according to an embodiment of the invention and a conventional interpolation position. FIG. 3A is an overall explanatory diagram, and FIG. It is an enlarged view of the part enclosed with the dashed-two dotted line of A). FIG. 4 is an explanatory diagram for comparing the cases where the past fixed time (ΔT) of the moving position detection apparatus of one embodiment of the present invention is changed. FIG. 4 (A) is an overall explanatory diagram, and FIG. 4 (B). FIG. 5 is an enlarged view of a portion surrounded by a two-dot chain line in FIG.

In FIG. 3,
Fixed period (T) = 1 second Unit time (Δt) = 0.10 second Plotted at a past fixed time (ΔT) = 0.80 seconds. Also, in FIG.
Constant period (T) = 1 second Unit time (Δt) = 0.10 second and each past fixed time (ΔT) is determined using the average interpolation position specified at 0.6 seconds, 0.8 seconds, and 1.0 seconds. The interpolation position is specified and plotted.

  As shown in FIG. 3, the interpolation position using the moving position detection apparatus 10 of the present invention and the interpolation position obtained by the conventional method in which the estimated azimuth of the current position is a straight line are particularly indicated by solid circles in FIG. As shown by the enclosed part, the error that occurs when the car runs on the curve is reduced compared to the conventional calculation method with a linear estimated azimuth, and the position accuracy is improved. found.

  In addition, as shown in FIG. 4, when specifying the interpolation position of the present invention, the past fixed time (ΔT), which is a parameter for obtaining the average interpolation position, is changed in units of laps, thereby reducing error during curve driving. It turns out that the effect and the stability during straight running change, and when running without changing the past fixed time (ΔT) during straight running and curve driving, the past fixed time ( It was found that when ΔT) is set to 0.7 to 0.8 seconds, an error reduction during curve traveling and a stability balance during linear traveling can be taken, and a good interpolation result can be obtained.

  A similar interpolation result can be obtained by changing the past fixed time (ΔT) according to the traveling speed obtained from the input signal such as the vehicle speed pulse signal.

  In addition, the same effect can be obtained by specifying a weighted average calculation method in which weights are given stepwise according to the elapsed time of the interpolation position (P) within the past fixed time (ΔT). Can do.

  Thus, according to the moving position detection device 10 according to the present invention, the GPS device 11, the vehicle speed pulse generation device 12, and the calculation device 13 are used as main components, and the GPS positioning position and the average interpolation position based on the vehicle speed pulse are used. By adopting the interpolation position calculation method that has been used, it is possible to reduce the error that occurs at the interpolation position during curve travel, as well as ease of mounting, exclusive cost, and weight reduction.

  By the way, in each said Example, although the movement position detection apparatus 10 of this invention was demonstrated as a case where it uses for collision prevention safety apparatuses, such as ASV, it is used together with a car navigation system, for example, especially for motorcycles etc. Needless to say, the present invention can be applied to all systems for detecting a moving position, such as using in combination with a navigation system without a gyro sensor.

DESCRIPTION OF SYMBOLS 10 ... Movement position detection apparatus 11 ... GPS apparatus (GPS position positioning means)
12 ... Vehicle speed pulse generator (travel distance detection stage)
13. Calculation device (interpolation position specifying means / moving state determining means)

Claims (4)

A moving position detecting device mounted on a moving body for detecting the moving position,
GPS position positioning means for specifying a GPS positioning position indicating the current position of the apparatus main body at a certain period (T) by receiving radio waves from a GPS satellite and specifying the latitude and longitude, and movement for detecting the moving distance of the moving body A distance detection stage and a movement distance per unit time (Δt) in a fixed period (T) from when the previous GPS positioning position is specified by the GPS position positioning means to when a new GPS positioning position is specified. Interpolation position specifying means for specifying an interpolation position indicating the position of the apparatus main body, and
The interpolation position specifying means performs an average interpolation from a plurality of interpolation positions including a GPS positioning position in the latest past fixed time (ΔT) shorter than a fixed period (T) among the interpolation positions specified every unit time (Δt). The position is specified, the direction from the previous average interpolation position to the latest average interpolation position is set as the estimated direction from the previous interpolation position to the latest interpolation position, and the unit time (Δt from the estimated direction and the previous interpolation position is determined. ) A moving position detecting device that identifies the latest interpolation position using the moving distance after the elapse.   The setting time of the past fixed time (ΔT) in the average interpolation position specification of the interpolation position specifying means and the fixed period (T) of the GPS positioning position has a relationship of ΔT / T = 0.7 to 0.8. The moving position detection device according to claim 1 or 2, characterized in that   A moving state discriminating means for discriminating whether the moving state is a straight movement or a turning movement is provided, and the average interpolation position is determined by changing the set time of the past fixed time (ΔT) in specifying the average interpolation position between the straight movement and the turning movement. The moving position detection device according to claim 1, wherein the moving position detection device is specified.   The moving state discriminating means specifies at least two types of interpolation positions by using unit times (Δta), (Δtb) of at least two types of long and short past fixed times (ΔT), and among these plural interpolation positions, The unit time (Δta) or unit time (Δtb) with the least error is selected for the new GPS positioning position to determine the moving state, and the moving state is determined several times at a certain period of the GPS positioning position ( 5. The moving position detecting device according to claim 4, wherein the moving position detecting device is performed every T) and specifies the interpolation position using the unit time (Δta) or the unit time (Δtb) selected until the next moving state determination time. .

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