JP3220376B2 - Vehicle running information collection device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling information collecting device used for an automatic traveling system or the like.

[0002]

2. Description of the Related Art A traveling information collecting device for a vehicle is used in an automatic traveling system for realizing automatic driving of a vehicle.
It plays a role of collecting travel information such as left and right deviations and curves of the vehicle from markers provided on the road surface or the like. Such a vehicle traveling information collecting device includes an INTELLIGENT ROADWAY REFERENCE SYSTEM FOR VEHICLE of US Pat. No. 5,347,456.
Like LATERAL GUIDANCE AND CONTROLL, magnetic markers are provided in the center of the driving lane along the road surface at intervals in a row, and the magnetic flux density on the surface perpendicular to the road surface is detected by the on-board magnetic sensor. There is one that calculates the lateral deviation of the vehicle more. Some traveling information collecting devices using magnetic markers are configured to read a binary code composed of an N pole and an S pole of a magnetic marker that sequentially appears as the vehicle travels to obtain traveling information such as a curve. The polarity of the magnetic marker is determined from the direction of the magnetic flux density in the vertical direction detected by the magnetic sensor.

There is an automatic guided vehicle guidance system used in factories, warehouses, and the like to obtain running information of a vehicle from a marker provided on a road surface or the like. This is to detect a magnetic field generated by a guide line laid on a road surface and drive an automatic guided vehicle along the guide line. JP-A-58-203520
In the guidance apparatus for a traveling vehicle described in Japanese Patent Application Laid-Open Publication No. H11-157, a plurality of detection coils for detecting the magnetic field in the vertical direction are provided in the left and right directions of the vehicle, utilizing the fact that the magnetic field in the vertical direction is minimized immediately above the guide line. The lateral deviation of the vehicle is detected from the distribution of the signal obtained by binarizing the detection signal of the detection coil with a predetermined threshold.

Japanese Patent Application Laid-Open No. Hei 6-214641 discloses that detection coils for detecting a magnetic field in the vertical direction are provided on the left and right sides symmetrically with respect to the center line of the vehicle, and when the detection signals of the respective detection coils are in phase, both detection coils are used. It is determined that the steering line is deviated to the same side with respect to the guide line, and a predetermined steering amount is commanded. A plurality of such detection coils are provided in a range from the outside of the vehicle to the vicinity of the center of the vehicle, and the steering amount is changed stepwise to enable finer steering.

[0005]

However, in the device described in U.S. Pat. No. 5,347,456, the magnetic flux density detected by the magnetic sensor when the vehicle is largely displaced from side to side becomes small, so that the calculation of the distance is not possible. The accuracy is not enough. The magnetic flux density in the vertical direction decreases depending on the position where the vehicle is deviated, and depending on the magnitude of the detection error, the magnetic flux density from the magnetic pole (N pole) 61 of the magnetic marker 6A to the magnetic sensor 7 as shown in FIG. 8 (A), or the magnetic flux density from the magnetic sensor 7 to the magnetic pole (S-pole) 62 of the magnetic marker 6 (FIG. 8B). In order to obtain highly accurate information as to which position is located on the left or right of 7, a magnetic sensor with extremely high detection accuracy or a magnetic marker with a large magnetic force is required, and is not always practical.

Further, in order to accurately determine the polarity of the magnetic pole of the magnetic marker at the position where the magnetic flux density in the vertical direction is small, it is necessary to use a magnetic sensor having extremely high detection accuracy or a magnetic marker having a large magnetic force. It is not always practical.

In the guidance apparatus for a traveling vehicle described in JP-A-58-203520 and the electromagnetic induction steering system for an automatic guided vehicle described in JP-A-6-214641, a large number of detections are performed at intervals of a required resolution. It is necessary to provide a coil, and complication is inevitable. In addition, since the system uses a guide line, it is necessary to obtain travel information from another means, and the reliability is not always sufficient for use on a general road.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a practical vehicle traveling information collecting device capable of detecting a lateral deviation of a vehicle with high accuracy. It is another object of the present invention to provide a practical vehicle traveling information collection device that can accurately determine the polarity of a magnetic marker.

[0009]

According to the first aspect of the present invention, a plurality of magnetic detectors for detecting a magnetic flux density in a two-dimensional direction on a plane perpendicular to a road surface among magnetic flux densities generated by magnetic markers arranged on a traveling lane. Means are arranged at equal intervals in the lateral direction of the vehicle, and horizontal distance estimating means for estimating a horizontal distance between the magnetic detecting means and the magnetic marker based on the detected magnetic flux density is provided. Selecting means for selecting the magnetic detecting means whose density is felt most strongly as the reference magnetic detecting means; and bias calculating the lateral deviation of the vehicle from the horizontal distance between the reference magnetic detecting means and the magnetic marker. With position calculation means ,
The deviation calculating means is detected by the reference magnetic detecting means.
The horizontal distance estimating means estimates the magnetic flux density
Water between the specified magnetic detection means and the magnetic marker
The average distance between the magnetic sensor and the reference
The magnetic flux density detected by the magnetic detection means adjacent to the output means
As an input, the magnetic detection estimated by the horizontal distance estimating means is performed.
Correction means for correcting the horizontal distance between the output means and the magnetic marker.
It is characterized by having a step .

[0010] The reference magnetism for which the magnetic flux density was felt most strongly
Adjacent to the detecting means, the magnetic detecting means and the magnetic marker
The magnetic detecting means and the magnetic
By obtaining the horizontal distance between the vehicles, the deviation of the vehicle in the left-right direction is calculated based on the magnetic flux density exceeding a certain value, regardless of the position of the deviation in the left-right direction of the vehicle. Good detection.

[0011]

According to the second aspect of the present invention, the deviation calculating means obtains a distribution of magnetic flux densities on the left and right of the reference magnetic detection means from the magnetic detection means arranged on both sides adjacent to the reference magnetic detection means. By providing the determination means, even at a position where the magnetic flux density in the vertical direction is small, it can be accurately determined from the above distribution whether the magnetic marker is located on the left or right of the reference magnetic detection means.

According to the third aspect of the present invention, it is possible to easily determine whether the magnetic marker is located on the left or the right of the reference magnetic detecting means by comparing the magnitudes of the magnetic flux densities on the right and left sides of the reference magnetic detecting means. Can be determined.

According to a fourth aspect of the present invention, a plurality of magnetic detecting means for detecting a two-dimensional magnetic flux density in a plane perpendicular to the road surface out of the magnetic flux densities generated by the magnetic markers arranged on the traveling lane are provided on the right and left sides of the vehicle. Are disposed at equal intervals in the direction, and a selection unit is provided for selecting the magnetic detection unit having the strongest magnetic flux density among the magnetic detection units as a reference magnetic detection unit. From the distribution of the left and right magnetic flux densities, determine whether the magnetic marker is located on the left or right of the reference magnetic detection means,
The magnetic pole determining means determines the magnetic pole of the magnetic marker from the direction of the magnetic flux density detected by the reference magnetic detecting means.

Even if the vehicle is displaced in the left-right direction, the distribution of the magnetic flux density on the left and right sides of the magnetic detection means where the magnetic flux density is always felt the strongest is obtained, and the polarity of the magnetic pole of the magnetic marker is determined based on the distribution. Therefore, the polarity of the magnetic pole of the magnetic marker can be accurately determined even at a position where the magnetic flux density in the vertical direction is small.

According to the fifth aspect of the present invention, by comparing the magnitude of the magnetic flux density on the left and right sides of the reference magnetic detection means, it is easy to determine whether the magnetic marker is located on the left or right of the reference magnetic detection means. Can be determined.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION

(First Embodiment) FIG. 1 shows a vehicle traveling information collecting apparatus according to the present invention. A magnetic marker 1 made of a permanent magnet is buried in the road 5 at the center of the traveling lane 5 a at regular intervals along the traveling direction of the vehicle with its magnetic pole 11 directed upward from the road surface 51. In the vehicle 4, magnetic sensors 2a, 2b, and 2c, which are magnetic detecting means, are mounted at the same height at an interval L in the left-right direction below the front bumper. The center magnetic sensor 2b is the vehicle 4
On the center line of. These magnetic sensors 2a, 2b,
2c is a horizontal and horizontal magnetic flux density B _ya ,
B _yb, a sensing unit for detecting a B _yc, consists of a sensing unit for detecting the vertical direction of the magnetic flux density B _za, B _zb, a B _zc, can detect the magnetic flux density of the two-dimensional direction in a plane perpendicular to the road surface 51 (Hereinafter, unless otherwise specified, the magnetic flux density refers to a magnetic flux density in a two-dimensional direction on a plane perpendicular to the road surface 51). The control computer 3 is mounted inside the vehicle 4 and collects travel information such as lateral deviation of the vehicle 4 by using detection signals from the magnetic sensors 2a, 2b, and 2c as input, and performs steering (not shown) based on the information. The device is controlled. In the detection signals output from the magnetic sensors 2a, 2b, and 2c, the magnetic flux density in the horizontal direction is treated as a positive value when the magnetic flux density in the traveling direction is rightward, and the magnetic flux density in the vertical direction is treated as a positive value when upward. ing.

FIG. 2 is a flowchart of the control computer 3, and the operation of the travel information collecting device will be described with reference to FIG. In step 101, the magnetic flux densities (B _ya , B _za ), (B _yb , B _zb ), (B _yc ) detected by the magnetic sensors 2a, 2b, 2c when the vehicle 4 passes right above the magnetic marker 1
B _zc ). The next step 102 is an operation as a selecting means. Since the magnetic sensor closer to the magnetic marker 1 feels a higher magnetic flux density, the magnetic sensors 2a and 2
By comparing the magnetic flux densities detected in b and 2c, the magnetic sensor that felt the largest magnetic flux density was selected, and the magnetic sensor closest to the magnetic marker 1 serving as the reference magnetic detecting means (hereinafter, referred to as a magnetic sensor)
(Referred to as a first sensor). Next step 103
Is an operation as horizontal distance estimating means. Based on the magnetic flux density (B _y1 , B _z1 ) detected by the first sensor, a horizontal distance L _s1 between the first sensor and the magnetic marker 1 is calculated based on a map stored in the control computer 3 in advance. The above map is a result of previously examining the correspondence between the magnetic flux density detected by the magnetic sensor and the horizontal distance between the magnetic sensor and the magnetic marker. The horizontal distance between the magnetic markers is determined.

In step 104, it is determined whether or not the horizontal distance _Ls1 is to be corrected. First, from a magnetic flux density distribution obtained from magnetic flux densities detected by magnetic sensors on both sides adjacent to the first sensor, a magnetic sensor adjacent to the first sensor (hereinafter, referred to as a second sensor) with the magnetic marker 1 interposed therebetween. Sensor). Then, the calculated horizontal distance L _s1 is
It is compared with a threshold value L _th stored in advance in the control computer 3, if the threshold L _th larger shall perform correction. If the horizontal distance L _s1 is smaller than the threshold L _{th, the} correction is not performed. In this case, the magnetic marker 1 is located near the first sensor, and the detection accuracy is sufficient. In addition, when the second sensor cannot be specified, that is, when the magnetic marker 1 is located outside the left and right magnetic sensors 2a and 2c, the above correction is not performed.

In step 104 of FIG. 2, it is determined whether or not the horizontal distance _Ls1 is to be corrected according to the above procedure. If the above correction is to be performed, the process proceeds to step 105.
Step 105 is an operation as horizontal distance estimating means. Magnetic flux density detected by the second sensor (B _y2 , B _z2 )
The second sensor and the magnetic marker 1 based on the above map.
The horizontal distance L _s2 between them is calculated.

Next, the operation as the deviation calculating means will be described. Step 106 is an operation as correction means. The horizontal distance L _m between 1 first sensor and magnetic markers is obtained by equation. The equation corrects L _s1 with L _s2 , the horizontal distance L _s1 between the first sensor and the magnetic marker 1 calculated from the magnetic flux density detected by the first sensor, and the value detected by the second sensor. This is a weighted average of the horizontal distance (L−L _s2 ) between the first sensor and the magnetic marker 1 calculated from the magnetic flux density (B _y2 , B _z2 ). _{L m = f (L s1,} L s2) L s1 + (1-f (L s1, L s2)) (L-L s2) ...... where f (L _s1, L _s2) is L _s1 and L _s2 Is a function, and a value closer to 1 is shown as L _s1 is larger than L _s2 .
Since the magnetic sensor closest to the magnetic marker 1 is selected as the first sensor, it does not take a value close to 0.

[0022] then calculates the distance L _vm from the mounting position of the horizontal distance L _m of the first sensor between the first sensor and the magnetic marker 1 to the magnetic marker 1 from the center line of the vehicle 4 (step 108), The information is output to the steering device as information on the lateral deviation of the vehicle (step 109).

If it is determined in step 104 that the correction is not to be performed, the horizontal distance _Ls1 between the first sensor and the magnetic marker 1 calculated from the magnetic flux density detected by the first sensor is set to the first distance. Horizontal distance L _m between sensor and magnetic marker 1
(Step 107).

As described above, the vehicle 4 is provided with the magnetic sensors 2a, 2
Each time the vehicle 4 passes just above b and 2c, the lateral deviation of the vehicle 4 is calculated.

FIG. 3 shows an example of a deviation error in the left-right direction of the traveling information collecting device for a vehicle. The interval L for mounting the magnetic sensor is 25 cm. The first sensor having the strongest magnetic flux density is selected according to the laterally deviated position of the vehicle, so the horizontal axis corresponding to the mounting position of the magnetic sensor = 0, −25, +25 (cm) A portion where an error becomes a valley is formed in the vicinity. The hatched portion is the range where the correction based on the second sensor has been performed, and the error is left out of the head. This is effective due to the correction by the horizontal distance L _s2 calculated from the magnetic flux density detected horizontal distance L _s1 calculated from the magnetic flux density detected by the first sensor at the second sensor.

Note that, without performing the above correction, the horizontal distance L _s1 calculated from the magnetic flux density detected by the first sensor is set to L _m, and from this and the mounting position of the first sensor, the magnetic distance from the center line of the vehicle 4 is determined. The distance _Lvm to the marker 1 may be calculated, and FIG. 4 shows a measurement error in such a case. At the position sandwiched between the left and right magnetic sensors,
Although the error is not suppressed as much as in FIG. 3, the error is considerably suppressed because the magnetic sensor with the strongest magnetic flux density is selected according to the laterally displaced position of the vehicle.

(Second Embodiment) Another embodiment of the present invention will be described. The hardware configuration of the magnetic sensor, the control computer, and the like is substantially the same as that shown in FIG.

FIG. 5 shows a flowchart of the control computer 3. The operation of the travel information collecting device will now be described. Steps 201 and 202 correspond to step 10 in FIG.
A magnetic sensor (hereinafter, referred to as a reference sensor) closest to the magnetic marker 1 as reference magnetic detection means is specified (step 202 is an operation as a selection means).

In step 203, the absolute value of the magnetic flux density B _zn of the reference sensor in the vertical direction is compared with a threshold value B _zth stored in the control computer 3 in advance. The threshold value B _zth is for determining whether the magnetic flux density B _zn is large enough to specify whether the sign is positive or negative, and is set to a larger value in consideration of the detection error of the magnetic sensor. When the absolute value of the magnetic flux density B _zn is larger than the threshold value B _zth , the sign of the magnetic flux density B _zn can be accurately determined even in consideration of the detection error. Therefore, proceeding to step 212, the sign of the magnetic flux density B _zn is determined. When B _zn > 0, since the magnetic flux density is from the magnetic marker 1 to the reference sensor, the polarity of the magnetic pole 11 of the magnetic marker 1 is Judge as N pole (Step 2
13) If B _zn <0, the polarity is determined to be S pole (step 214), and the determined polarity of the magnetic pole 11 of the magnetic marker 1 is output (step 207).

In step 203, the magnetic flux density _Bzn is
_If it is smaller than _zth, the polarity of the magnetic marker 1 is determined by another procedure that can determine the polarity of the magnetic pole 11 of the magnetic marker 1 with sufficient accuracy in consideration of the detection error. Step 20
Reference numeral 4 denotes an operation as left / right determination means for determining whether the magnetic marker 1 is located on the left or right of the reference sensor.

FIG. 6 shows the procedure in step 204. In step 301, the position of the reference sensor is determined. Any of the magnetic sensors 2a at both ends,
If it is not 2c (here, 2b), the process proceeds to step 305, where the magnetic flux densities detected by the magnetic sensors (here, 2a, 2c) arranged on both sides adjacent to the reference sensor are compared, and a large magnetic flux density is detected. It is determined that the magnetic marker 1 is located on the side of the detected magnetic sensor. This is because the magnetic flux density generated by the magnetic marker 1 is strong near the magnetic marker 1 and weak when far from it. That is, the reference sensor (here, 2
If the magnetic flux density detected by the magnetic sensor (here, 2a) on the left side of b) is larger, it is determined that the magnetic marker 1 is located on the left side of the reference sensor (here, 2b) (step 306). . If the magnetic flux density detected by the magnetic sensor (here, 2c) on the right side of the reference sensor (here, 2b) is larger, it is determined that the magnetic marker 1 is located on the right side of the reference sensor (step 307). ).

In step 301, if the reference sensor is the leftmost magnetic sensor 2a, the process proceeds to step 302,
The magnetic flux density of the right sensor (here, 2b) adjacent to the reference sensor (here, 2a) is compared with a threshold value _Bth stored in the control computer 4 in advance. Since the magnetic flux density generated by the magnetic marker 1 is strong near the magnetic marker 1 and weak when far from it, the magnetic flux density detected by the magnetic sensor (here 2b) adjacent to the reference sensor (here 2a) is magnetic. It is strong if the marker 1 is to the right of the reference sensor (here 2a), and weak if the magnetic marker 1 is to the left of the reference sensor (here 2a). If the magnetic flux density detected by the right magnetic sensor (here, 2b) is larger than the threshold value B _th, it is determined that the magnetic marker 1 is located on the right side of the reference sensor (here, 2a) (step 3).
03). If the magnetic flux density of the right magnetic sensor (here, 2b) is smaller than the threshold value, it is determined that the magnetic marker 1 is located on the left side of the reference sensor (here, 2a) (step 304).

In step 301, if the reference sensor is the rightmost magnetic sensor 2c, substantially step 302
In step 308, the magnetic flux density detected by the magnetic sensor (here, 2b) on the left side of the reference sensor (here, 2c) is compared with the threshold value _Bth. the threshold value B _th is greater than the magnetic marker 1 is determined to be located on the left side of the sensor reference (2c in this case) (step 309), if the magnetic flux density is above the threshold value B _th is smaller than the magnetic marker 1 It is determined that it is located on the right side of the reference sensor (here, 2c) (step 310).

In step 204 of FIG. 5, it is specified by this procedure whether the magnetic marker 1 is located on the left or right of the reference sensor. The control computer 3 as the magnetic pole judging means determines from the direction of the magnetic flux density _{Byn in} the horizontal direction. Magnetic marker 1
The polarity of the magnetic pole 11 is specified. That is, if the magnetic marker 1 is located on the left side of the reference sensor, step 205
To determine the direction of the magnetic flux density _Byn , that is, the sign.
When B _yn > 0, the magnetic flux density goes from the magnetic marker 1 to the reference sensor.
It is determined that the polarity of 1 is the N pole (step 206), and B _yn <0
In the case of, the polarity is determined to be the S pole (step 208). Next, the determined polarity is output (step 207). If the magnetic marker 1 is located to the right of the reference sensor, the process proceeds to step 209, where the sign of the magnetic flux density B _yn is determined, and B _yn is determined.
When> 0, the magnetic flux density is changed from the reference sensor to the magnetic marker 1
Therefore, the polarity is determined to be S pole (step 210), and when B _yn <0, the polarity is determined to be N pole (step 211).

As described above, the vehicle 4 has the magnetic sensors 2a and 2a.
Each time it passes right above b and 2c, the polarity of the magnetic pole 11 of the magnetic marker 1 is accurately determined regardless of the relative position of the magnetic marker and the magnetic sensor.

It should be noted that the procedure in step 204 can be another procedure. FIG. 7 shows such another procedure. In step 401, the position of the reference sensor is specified by the same procedure as step 301 in FIG. If it is neither of the magnetic sensors 2a and 2c at both ends (here, 2b), the process proceeds to step 405, and the direction of the magnetic flux density _{Byn in} the horizontal direction detected by the reference sensor (here, 2b) is determined. Here, a comparison is made with the direction of the magnetic flux density in the horizontal direction of the magnetic sensors (here, 2a and 2c) on both sides adjacent to 2b). Since the magnetic flux density in the horizontal direction generated by the magnetic marker 1 is opposite to the left and right directions with the magnetic marker 1 as the center, the direction of the magnetic flux density _Byn , that is, the sign, is adjacent to the right magnetic sensor (here, 2).
If it is the same as or opposite to the left magnetic sensor (here 2a) as in c), it is determined that the magnetic marker 1 is located to the left of the reference sensor (here 2b) (step 406). When the sign of the magnetic flux density _Byn is the same as the adjacent left magnetic sensor (here 2a) or opposite to the adjacent right magnetic sensor (here 2c), the magnetic marker 1
Is located on the right side of the reference sensor (here, 2b) (step 407).

If the reference sensor is the leftmost magnetic sensor 2a in step 401, the process proceeds to step 402,
The direction of the horizontal magnetic flux density _Byn detected by the reference sensor (here 2a) is compared with the direction of the horizontal magnetic flux density detected by the right magnetic sensor (here 2b). If the direction of the magnetic flux density _Byn , that is, the sign is opposite to that of the right magnetic sensor (here, 2b), it is determined that the magnetic marker 1 is located on the right side of the reference sensor (here, 2a) (step 403). If the sign of the magnetic flux density _Byn is the same as the right magnetic sensor (here, 2b), it is determined that the magnetic marker 1 is located on the left side of the reference sensor (here, 2a) (step 404).

When the reference sensor is the rightmost magnetic sensor 2c in step 401, the steps 402 to 402 are substantially performed.
In step 408, the direction of the magnetic flux density B _{yn in} the horizontal direction detected by the reference sensor (here, 2c) is changed to the left magnetic sensor (here, 2
Compare with the direction of the magnetic flux density in the horizontal direction detected in b). If the direction of _Byn , that is, the sign is opposite to that of the left magnetic sensor (here, 2b), it is determined that the magnetic marker 1 is located on the left side of the reference sensor (here, 2c) (step 409), and the magnetic flux density is determined. If the sign of _Byn is the same as that of the left magnetic sensor (here, 2b), it is determined that the magnetic marker 1 is located to the right of the reference sensor (here, 2c) (step 410).

The first embodiment and the second embodiment are implemented together to provide a traveling information collecting device capable of both calculating the lateral deviation of the vehicle and reading the polarity of the magnetic pole of the magnetic marker. obtain.

The procedure as the left / right determination means shown in FIGS. 6 and 7 can be applied to step 104 in FIG. That is, it is determined whether the first sensor is located on the left or right of the first sensor.
7, 309, steps 403, 406, 40 in FIG.
In the case of 7, 409, the magnetic sensor adjacent to the first sensor can be specified with the magnetic marker interposed therebetween. Therefore, in this case, it may be determined that correction is to be performed.

The number of magnetic sensors to be mounted is not limited to three, but may be any number, and the number can be arbitrarily selected arbitrarily according to the required detection accuracy.

[Brief description of the drawings]

FIG. 1 is an overall view of a vehicle equipped with a vehicle traveling information collecting device of the present invention.

FIG. 2 is a flowchart illustrating the operation of the vehicle travel information collection device of the present invention.

FIG. 3 is a first graph illustrating an effect of the vehicle traveling information collection device of the present invention.

FIG. 4 is a second graph illustrating the effect of the vehicle traveling information collection device of the present invention.

FIG. 5 is a first flowchart illustrating the operation of another vehicle traveling information collection device of the present invention.

FIG. 6 is a second flowchart illustrating the operation of the traveling information collection device for another vehicle according to the present invention.

FIG. 7 is a flowchart for explaining the operation of still another vehicle traveling information collection device of the present invention.

FIGS. 8A and 8B are first and second conceptual diagrams for explaining a problem of a conventional technique.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Magnetic marker 11 Magnetic pole 2a, 2b, 2c Magnetic sensor (magnetic detection means) 3 Control computer (selection means, horizontal distance estimation means,
(Deviation calculating means, correcting means, left / right determining means, magnetic pole determining means) 4 vehicle 5 road 51 road surface

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Keiji Aoki 1 Toyota Town, Toyota City, Aichi Prefecture Within Toyota Motor Corporation (72) Inventor Akihide Tachibana 1 Toyota Town, Toyota City, Aichi Prefecture Inside Toyota Motor Corporation ( 56) References JP-A-8-19 (JP, A) JP-A-1-253007 (JP, A) JP-A-63-196907 (JP, A) JP-A-62-81106 (JP, U) (58) ) Surveyed field (Int.Cl. ⁷ , DB name) G01C 21/00 G05D 1/02

Claims (5)

(57) [Claims] 1. A magnetic marker disposed in the center of a traveling lane at equal intervals along the traveling direction of a vehicle and with a magnetic pole facing upward, and a road surface of a magnetic flux density generated by the magnetic marker provided at a lower portion of the vehicle. A plurality of magnetic detecting means for detecting magnetic flux density in a two-dimensional direction in a plane perpendicular to the plane, and a plurality of magnetic detecting means arranged at equal intervals in the left-right direction of the vehicle, and a horizontal distance between the magnetic detecting means and the magnetic marker; A horizontal distance estimating means for estimating the horizontal distance corresponding to the magnetic flux density detected by the magnetic detecting means as an input, based on a pre-stored correspondence of the magnetic flux density detected by the magnetic detecting means, Selecting means for selecting, as the reference magnetic detecting means, the magnetic detecting means having the highest magnetic flux density among the magnetic detecting means; and the reference magnetic field estimated by the horizontal distance estimating means. A deviation calculating means for calculating a lateral deviation of the vehicle from a horizontal distance between the detecting means and the magnetic marker, and the deviation calculating means comprises:
The magnetic flux density detected by the magnetic detection means
The above-mentioned reference magnetic detecting means estimated by the horizontal distance estimating means and
The horizontal distance between the magnetic markers is
In the magnetic detection means adjacent to the magnetic detection means of the above reference
The above-mentioned horizontal distance estimating means using the detected magnetic flux density as an input.
Estimated between the magnetic detection means and the magnetic marker
A traveling information collection device for a vehicle, comprising: a correction unit that corrects with a distance . 2. The vehicle travel information collecting device according to claim 1, wherein said deviation calculating means includes said reference magnetic detection means.
Detected by magnetic detection means located on both sides next to the step
From the magnetic flux density, the magnetic flux density on the left and right of the above-described magnetic detection means
From the distribution, and the magnetic marker is used as the reference magnetic field based on the distribution.
Left and right judging to determine whether it is located on the left or right of the
A traveling information collecting device for a vehicle , comprising a determining means . 3. The vehicle travel information collecting device according to claim 2 , wherein said left / right determination means is provided as a reference magnetic detection means.
Magnetic flux density detected by the magnetic detection means arranged on both sides of the step
The magnitude of the magnetic field is compared, and a large magnetic flux density is detected.
It is determined that the magnetic marker is located on the output means side.
Vehicle information collection device set as follows . 4. The vehicle is located at the center of the traveling lane along the traveling direction of the vehicle.
Magnetic poles arranged at equal intervals and with the magnetic poles facing upward
A marker and the magnetic marker provided below the vehicle.
Two-dimensional direction of the generated magnetic flux density in the plane perpendicular to the road surface
Magnetic detecting means for detecting the magnetic flux density in the
Magnetic detecting means arranged at equal intervals in the horizontal direction
If the magnetic flux density feels the strongest among the above magnetic detection means
The selected magnetism detection means as the reference magnetism detection means
Selection means and arranged on both sides adjacent to the reference magnetic detection means.
From the magnetic flux density detected by the magnetic detection means
The distribution of the magnetic flux density on the left and right of the quasi-magnetic detection means is obtained, and the distribution
The magnetic marker is located on the left and right of the reference magnetic detecting means.
Left and right determination means for determining whether the position is shifted;
The magnetic flux density detected by the magnetic detection means
From the above to the magnetic detection means of the above reference
Determines that the magnetic pole of the magnetic marker is the N pole, and
The magnetic flux density detected by the
If it is from the means to the magnetic marker,
The magnetic pole of the magnetic marker is provided with a magnetic pole determining means for determining that the magnetic pole is an S pole.
A traveling information collection device for a vehicle, comprising: 5. A vehicle travel information collecting device according to claim 4.
In the above, the left / right determination means is provided as a reference magnetic detection means.
Detected by magnetic detection means located on both sides next to the step
By comparing the magnitude of the magnetic flux density,
The magnetic marker is located on the side of the detected magnetic detection means
Information collection device of a vehicle set to determine
Place.