JP3404905B2 - Vehicle navigation system - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to a vehicle navigation system for correcting an offset of the detected velocity and acceleration in a static stop of the vehicle.

[0002]

2. Description of the Related Art Conventionally, a vehicle navigation device of this type accurately measures the self-position and the traveling direction of an automobile or the like and marks the current position on a map screen. At the same time, the user's request information is displayed on the screen to support driving to the destination.

FIG. 4 is a block diagram showing the structure of a conventional vehicle navigation device. In FIG. 4, this vehicle navigation device receives positioning radio waves from three or four GPS satellites in the sky and performs spectrum despread demodulation data (two-dimensional position of latitude and longitude or latitude, longitude and altitude). The GPS receiver 1 that outputs the absolute position of the three-dimensional position and the azimuth information) and the angular velocity sensor 2 that detects the relative position that is the angular velocity during traveling of the vehicle equipped with the vehicle navigation device are provided. . Further, an angular velocity offset correction processing unit 3 that corrects the offset of the zero-point voltage (angular velocity) output by the angular velocity sensor 2 and an angular velocity integrator 4 that integrates the angular velocity from the angular velocity offset correction processing unit 3 are provided. Further, a pulse generator 6 that generates a pulse each time the wheels of a vehicle equipped with the vehicle navigation device are rotated, a counter 7 that counts the pulses from the pulse generator 6, and a counter 7 that detects the pulses at regular intervals. A vehicle speed detection unit 8 for converting the count number of the vehicle into a vehicle speed is provided. Further, the vehicle navigation device includes a vehicle speed integrator 9 that integrates speed data of the vehicle from the vehicle speed detection unit 8 to calculate a traveling distance,
A stationary determination unit 10 that determines that the vehicle is stationary when the count number from the counter 7 is zero and a position detection unit 11 that calculates the current position and the traveling direction are provided. Further, the map information storage unit 12 having a medium such as a CD-ROM or an IC card for storing the map information and the current position and traveling direction from the position detection unit 11 and the map information from the map information storage unit 12 are superposed. An image processing unit 13 that performs image processing such as the above, and a liquid crystal display (LCD) 14 that displays a map and a vehicle position on the screen are provided.

The operation of the vehicle navigation device configured as described above will be described below.

Relative information obtained by integrating the angular velocity integrator 4 with information on the absolute position and azimuth detected by the GPS receiver 1 and the angular velocity corrected by the angular velocity offset correction processing unit 3 for the offset of the angular velocity detected by the angular velocity sensor 2. The position detector 11 calculates the self-position and the traveling direction from the azimuth and the traveling speed from the vehicle speed detector 8 based on the pulse from the pulse generator 6 and the traveling distance detected by the vehicle speed integrator 9. The image processing unit 1 uses this position as the map information from the map information storage unit 12.
Perform the overlapping process in step 3 to display the liquid crystal display (L
CD) 14 screen display. In this case, GPS receiver 1
There is very little error in absolute position and direction detected by, but in buildings, tunnels and forests, the frequency of radio waves from GPS satellites (1.2 GHz band and 1.5 GHz).
Since the band is high, it is easy to be blocked and positioning cannot be performed at this location. Therefore, the self-position and the traveling direction are calculated from the output values of other sensors such as the angular velocity sensor 2. Even in this case, the output value (output voltage) of the angular velocity sensor 2 cannot accurately detect the self-position due to the influence of the ambient temperature change, accumulated error, and the like. Therefore, when the detection pulse is not obtained from the pulse generator 6, it is determined that the host vehicle is stationary, and the offset of the angular velocity sensor 2 is corrected by the angular velocity offset correction processing unit 3 during the stationary state.

As described above, also in the conventional vehicle navigation device, the GPS receiver 1 and the angular velocity sensor 2 are used together,
The self-position is detected by compensating for the drawback regardless of the traveling situation.

[0007]

However, the conventional vehicle navigation device has a drawback in that the connection work for transmitting the rotation of the wheels to the pulse generator 6 is required, and the work is troublesome. Further, there is a drawback that a detection error occurs for each vehicle type and a detection error also occurs when the tire is replaced.

The present invention solves such a conventional problem by distinguishing the constant speed and the stationary state of the vehicle from the output of the non-contact acceleration sensor and eliminating the erroneous determination. It is an object of the present invention to provide an excellent vehicle navigation device in which the offset correction accuracy of acceleration, velocity and angular velocity is improved, installation work of an acceleration sensor is facilitated, and adjustment and the like are unnecessary.

[0009]

In order to achieve the above object, the present invention according to claim 1 detects a current absolute position, azimuth and relative azimuth to obtain a traveling distance and a traveling speed, and at the same time, the apparatus is In a vehicle navigation device that detects the current position and traveling direction of a mounted moving body, two lateral vertical acceleration detecting means for detecting lateral and vertical accelerations, and an amplitude value of vertical acceleration of the vertical acceleration detecting means. The determination means for determining that the vehicle is in a stationary state by the, and the speed obtained by integrating the lateral acceleration and the acceleration output from the lateral acceleration detection means while the determination means determines that the vehicle is in a stationary state. Offset between the speed from the speed detecting means to be obtained and the output from the left and right acceleration detecting means while the determining means determines that the vehicle is stationary. A structure and a correcting correcting means.

According to a second aspect of the present invention, a vehicle that detects a current absolute position, azimuth, and relative azimuth to obtain a traveling distance and a traveling speed and also detects a current position and a traveling direction of a moving body equipped with the device. In a navigation device, an acceleration detecting means for detecting acceleration, a detecting means for detecting output noise generated by the acceleration from the acceleration detecting means when the vehicle equipped with the device is running or stationary, and an output detected by the detecting means. When the noise level is less than or equal to a preset threshold value, the determining means that determines that the moving body equipped with the device is in a stationary state, and the determining means determines that the vehicle is in a stationary state. The speed detecting means for obtaining the speed obtained by integrating the acceleration and the acceleration output from the acceleration detecting means and the speed detecting means while the judging means judges that the vehicle is stationary. A structure and a correcting means for correcting the offset in the output from the speed and acceleration detection unit from the unit.

According to a third aspect of the present invention, a vehicle that detects the current absolute position, azimuth, and relative azimuth to determine the traveling distance and traveling speed, and also detects the current position and traveling direction of a moving body equipped with the device. In a navigation device, an acceleration detecting means for detecting acceleration, and a detecting means for detecting an amplitude value of output noise of acceleration from the acceleration detecting means in a certain period including traveling and stationary of a vehicle equipped with the device, Threshold value setting means for determining the minimum of the output noise amplitude value detected by the detection means, and setting a multiplication value of a constant ratio or an addition value of a constant value as a threshold value to this value,
A determining means for determining that the moving body equipped with the device is in a stationary state when the threshold value is less than or equal to the threshold value set by the threshold setting means, and a time period during which the determining means determines that the vehicle is in a stationary state. The speed detection means for obtaining the speed obtained by integrating the acceleration and the acceleration output from the acceleration detection means, and the speed from the speed detection means and the acceleration detection means while the determination means determines that the vehicle is stationary. It is a configuration including a correction unit that corrects an output offset.

[0012]

With this configuration, the vehicle navigation system according to the first aspect integrates the acceleration and acceleration outputs in the left and right directions while determining that the vehicle is stationary based on the amplitude value of the acceleration in the up and down directions. Correct the offset of the speed you have set. Therefore, from the output of the non-contact acceleration sensor, the constant speed of the vehicle and the stationary state of the vehicle are distinguished from each other, and the erroneous determination is eliminated. Further, the correction accuracy of the offset of the detection output of acceleration, velocity and angular velocity is improved, the installation work of the acceleration sensor is facilitated, and the adjustment is unnecessary.

[0013] The vehicle navigation system of claim 2, wherein, by one of the acceleration detecting means, the running and the static vehicle
Detecting the output noise of the acceleration at the time of stop, the output noise level, determines that the mobile mounting the device in the case of less than or equal to the threshold set in advance is a stationary state, the quiescent <br / Corrects the acceleration and the velocity offset that integrates the acceleration output. Therefore, the stationary state is determined from the amplitude level of the output noise of the non-contact acceleration sensor, and the erroneous determination is eliminated. Furthermore, the correction accuracy of the offset of acceleration, velocity, and angular velocity is improved, and one acceleration sensor makes installation work easier, and
There is no need for adjustments.

[0014] The vehicle navigation system according to claim 3, by one of the acceleration detecting means, the running and the static vehicle
The amplitude value of the output noise is detected during a fixed period including the stop , and the minimum value is obtained. A multiplication value of a fixed ratio or an addition value of a fixed value to this minimum value is set as a threshold value.
When it is less than or equal to this threshold value, it is determined that the moving body mounting the device is in a stationary state, and during this period, the offset of the acceleration and the velocity obtained by integrating the acceleration output is corrected. Therefore, the stationary state is determined by measuring the amplitude value of the output noise of the non-contact acceleration sensor and obtaining the threshold value for the stationary determination. This eliminates erroneous determination when an error occurs in the vibration level or output level due to the type of vehicle to be mounted, temperature change, type of acceleration sensor. Furthermore, the correction accuracy of the offset of the detection output of acceleration, velocity and angular velocity is improved,
With one acceleration sensor, installation work is easier and no adjustment is required.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a vehicle navigation device of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a vehicle navigation device according to a first embodiment of the present invention. Figure 1
In this vehicle navigation device, demodulation data (two-dimensional position of latitude and longitude or three-dimensional position of latitude, longitude and altitude) which received positioning radio waves from three or four GPS satellites in the sky and subjected to spectrum despreading processing. The GPS receiver 11 that outputs the information on the absolute position of the original position and the azimuth), the angular velocity sensor 12 that detects the relative position that is the angular velocity when the vehicle equipped with the vehicle navigation device is running, and the angular velocity sensor 12 are An angular velocity offset correction processing unit 13 that corrects the offset of the output zero-point voltage (angular velocity) is provided. Further, the angular velocity offset correction processing unit 1
3, an angular velocity integrator 14 that integrates the angular velocity from 3, an acceleration sensor 15 that detects lateral acceleration, and an A / D converter 1 that converts the value of the acceleration sensor 15 into a digital value.
6 is provided. In addition, an acceleration offset correction processing unit 17 that corrects an acceleration offset, an acceleration integrator 18 that integrates the acceleration from the acceleration offset correction processing unit 17, and a velocity offset obtained by integrating the acceleration integrator 18 are corrected. A speed offset correction processing unit 19 is provided. Further, the velocity offset correction processing unit 19
Speed integrator 20 for integrating the speed from the vehicle, an acceleration sensor 21 for detecting vertical acceleration, and an acceleration sensor 21.
From the output from the amplitude detector 22 for detecting the amplitude value.
A stationary determination unit 23 that determines that the vehicle is stationary is provided.

Further, the vehicle navigation system is provided with a position detecting section 25 for calculating the current position and the traveling direction, and a map information storing section 26 provided with a medium such as a CD-ROM or an IC card for storing map information. ing. Further, an image processing unit 27 that performs image processing for superimposing the current position and traveling direction from the position detection unit 25 and the map information from the map information storage unit 26, and a liquid crystal display (LCD) 28 that displays the map and the vehicle position on the screen. Is equipped with.

Next, the operation of the first embodiment will be described. The GPS receiver 11 detects the absolute position and azimuth. The offset of the angular velocity detected by the angular velocity sensor 12 is corrected by the offset correction processing unit 13, and the angular velocity is integrated by the angular velocity integrator 14 to obtain the relative azimuth. The acceleration sensor 15 which detects the acceleration in the left-right direction detects the traveling speed as an analog output value, and the A / D converter 16 converts it into a digital signal. With respect to the acceleration from the A / D converter 16, the acceleration offset correction processing unit 17 removes the acceleration offset, and the speed integrator 20 performs the first-order integration to detect the traveling speed. Further, the velocity offset correction processing unit 19 removes the velocity offset, and the velocity integrator 20 integrates it to obtain the traveling distance. The amplitude detector 22 detects the amplitude value from the output of the acceleration sensor 21 that detects the vertical acceleration. When this detection determines that the value is equal to or less than the predetermined constant value, the stationary determination unit 23 can determine that the vehicle is stationary. During the stationary period, the angular velocity offset correction processing unit 13 obtains the angular velocity offset correction value and simultaneously corrects the relative velocity after the angular velocity is communicated by the angular velocity integrator 14 to zero. The acceleration offset correction processing unit 17 obtains the acceleration offset correction value, and the speed offset correction processing unit 19 obtains the speed offset correction value, and corrects it so that it is always zero while the vehicle is stationary.

Information on the absolute position and direction detected by the GPS receiver 11, the relative direction obtained through the angular velocity sensor 12, the angular velocity offset correction processing unit 13 and the angular velocity integrator 14, and the acceleration sensor 15 to the velocity integrator. Two
The position detection unit 25 calculates the self-position and the traveling direction from the traveled distance obtained through 0, and the image processing unit 27 superimposes the position on the map information from the map information storage unit 26. The screen is displayed on the display 28.

As the amplitude detector 22, the acceleration sensor 2 is used.
A method in which the output of No. 1 is passed through a high-pass filter (HPF) to measure the passing AC component and the peak value is detected can be considered. It is also possible to convert the output of the acceleration sensor 21 into a digital value and detect it by digital processing.

Next, the stillness determination and the offset correction in the first embodiment will be described. The amplitude detection unit 22 detects the amplitude value from the output of the acceleration sensor 21. When the amplitude value is less than or equal to a predetermined constant value, it is determined that the vehicle is stationary. While it is determined to be in the stationary state, the acceleration offset correction processing unit 17 calculates the acceleration offset value and further corrects the distance obtained by the second integral of acceleration to be zero. At the same time, the angular velocity offset correction processing unit 13 obtains an offset value of the angular velocity and corrects it so that the azimuth obtained by integrating the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stationary is removed when the vehicle is running.

[0022] By this way the acceleration sensor 12 in the first embodiment for detecting the vertical direction, to determine the static, since that can distinguish its constant velocity and static state, erroneous determination of the still, and the offset erroneous correction The correction accuracy is improved.

FIG. 2 is a block diagram showing the configuration of the second embodiment. 2, in the second embodiment, the acceleration sensor 21 for detecting the vertical acceleration is not provided in the configuration of the first embodiment shown in FIG. 1, and the output signal from the acceleration sensor 15 is It is configured to be input to the amplitude detection unit 22.

Next, the operation of the second embodiment will be described. The operation of the whole motion of the second embodiment is substantially the same as that of the first embodiment, and the stationary determination and the offset correction in the second embodiment will be described below.

The amplitude value detected by the amplitude detecting section 22 from the output signal from the acceleration sensor 15 has different amplitude levels of noise between when the vehicle is running and when the vehicle is stationary due to the influence of vibration and the like due to the running. This makes it possible to determine that the vehicle is stationary when the noise amplitude level is below a certain threshold. While judging that it is in this stationary state,
The acceleration offset correction processing unit 17 obtains an acceleration offset value. Further, the velocity offset correction processing unit 19 obtains a velocity offset value. Then, the distance obtained by the second integral of acceleration is corrected to be zero. At the same time, the angular velocity offset correction processing unit 13 obtains an offset value of the angular velocity and corrects it so that the azimuth obtained by integrating the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stationary is removed from the sensor output when the vehicle is traveling.

As described above, in the second embodiment, the stationary state is determined by the amplitude level of the output noise of the acceleration sensor 15, so that the uniaxial acceleration sensor 15 can determine the stationary state and correct the offset. Become.

FIG. 3 is a block diagram showing the configuration of the third embodiment. 3, in the third embodiment, a threshold value calculation unit 29 is provided between the amplitude detection unit 22 and the stillness determination unit 23 in addition to the configuration of the second embodiment shown in FIG. The threshold value calculation unit 29 determines a threshold value for determining stationary.

Next, the operation of the third embodiment will be described. The operation of the whole motion of the third embodiment is substantially the same as that of the first embodiment, and the stationary determination and the offset correction in the third embodiment will be described below.

In the threshold value calculation unit 29, the amplitude detection unit 22 detects the amplitude value of noise for a certain period from the output signal of the acceleration sensor 15 when the vehicle is running and when the vehicle is stationary.
A plurality of amplitude values are detected from the minimum value within the past fixed time (it is necessary to include running and stationary of the vehicle within this time), and the maximum value is multiplied by a fixed ratio among them to stop. Used as the threshold for judgment. The threshold stored in the backup memory or the like is used until a new threshold is detected after the power is turned on. Therefore,
The latest threshold value is stored before power is turned off. The amplitude value detected by the amplitude detector 22 is the threshold value calculator 29.
When it is smaller than the threshold value adopted in the step 1, it is determined that the vehicle is in a stationary state, and during this stationary state, the acceleration offset correction processing unit 17 obtains an acceleration offset value. Further, the velocity offset correction processing unit 19 obtains a velocity offset value and corrects it so that the distance obtained by the second-order integration of acceleration becomes zero. At the same time, the angular velocity offset correction processing unit 13 obtains an offset value of the angular velocity and corrects it so that the azimuth obtained by compiling the angular velocity becomes zero. Further, each offset correction value detected when the vehicle is stationary is removed from the sensor output when the vehicle is traveling.

As described above, in the third embodiment, the amplitude value of the output noise of the acceleration sensor 15 is measured and the threshold value for the stationary determination is obtained, so that the fluctuation of the output signal level of the sensor due to an external factor or the element Because it can absorb the differences between
It will be possible to accurately determine the stillness. Therefore, an accurate offset correction value is detected.

Although the absolute position and direction are detected by the GPS receiver 11 in the first to third embodiments, other systems such as an urban transportation system and an Omega radio navigation system may be used. .

[0032]

As is apparent from the above description, the vehicle navigation system according to the first aspect of the present invention accelerates in the lateral direction while determining that the vehicle is stationary based on the amplitude value of the vertical acceleration. Since the velocity offset that is obtained by integrating the acceleration output and the acceleration output is corrected, the constant speed of the vehicle and the stationary state of the vehicle can be distinguished from the output of the non-contact acceleration sensor to eliminate the erroneous determination. The correction accuracy of the offset of the detection output is improved, the installation work of the acceleration sensor is facilitated, and the adjustment can be made unnecessary.

According to another aspect of the present invention, there is provided a vehicle navigation device, wherein the output noise of acceleration when the vehicle is running or at rest , which is detected by one acceleration detecting means, is equal to or less than a preset threshold value. determines that the moving body is a stationary state, since the correcting an offset of the velocity obtained by integrating the acceleration and the acceleration output during this period, a stationary state from the amplitude level of the output noise of the acceleration sensor of the non-contact
It can be determined that there is , and the erroneous determination is eliminated. further,
The accuracy of offset correction of acceleration, velocity, and angular velocity is improved, and one acceleration sensor has the effects of facilitating installation work and eliminating the need for adjustment.

According to another aspect of the vehicle navigation apparatus of the present invention, the minimum of the amplitude value of the output noise detected by one acceleration detecting means in a certain period including the time when the vehicle is running and stationary is obtained, and this value is multiplied by a certain ratio. Set a value or an added value of constant values as a threshold value, and if it is less than or equal to this threshold value, it is determined that the moving body equipped with the device is in a stationary state, and the acceleration and the acceleration output since the corrected offset, the amplitude value of the output noise of the acceleration sensor of the non-contact measured, is determined stationary seeking threshold of the still determination, the vehicle type to be mounted, the temperature change, the type of acceleration sensor Eliminates erroneous determination when an error occurs in the vibration level and output level due to, and further improves the correction accuracy of the offset of the detection output of acceleration, velocity, and angular velocity. The speed sensor, it is easy to more installation work, and has the effect that adjustment can be made unnecessary.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle navigation device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a configuration of a second embodiment.

FIG. 3 is a block diagram showing the configuration of a third embodiment.

FIG. 4 is a block diagram showing a configuration of a conventional vehicle navigation device.

[Explanation of symbols]

11 GPS receivers 12 and 21 Angular velocity sensor 13 Angular velocity offset correction processing unit 14 Angular velocity integrator 15 Acceleration sensor 17 Acceleration offset correction processing unit 18 Acceleration integrator 19 Velocity offset correction processing unit 20 Velocity integrator 22 Amplitude detection unit 23 Stationary determination unit 25 position detection unit 26 map information storage unit 29 threshold value calculation unit

Front page continuation (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01C 21/00 G01S 5/02 G01S 5/14

Claims (3)

(57) [Claims] 1. A vehicle navigation device that detects a current absolute position, azimuth, and relative azimuth to obtain a travel distance and a travel speed, and also detects a current position and a traveling direction of a moving body equipped with the device. Two left / right vertical acceleration detecting means for detecting the horizontal / vertical acceleration and the vertical acceleration amplitude values of the vertical acceleration detecting means are equal to each other.
When the value is less than or equal to a fixed value, the determining means for determining that the vehicle is in a stationary state, and the lateral acceleration and the acceleration output from the lateral acceleration detecting means are determined while the determining means determines that the vehicle is in a stationary state. A speed detecting means for obtaining an integrated speed, and a correction for correcting an offset between the speed from the speed detecting means and the output from the left and right acceleration detecting means while the judging means judges that the vehicle is stationary. And a vehicle navigation device. 2. A vehicle navigation device that detects a current absolute position, azimuth, and relative azimuth to obtain a travel distance and a travel speed, and also detects a current position and a traveling direction of a moving body equipped with the device. Acceleration detecting means for detecting acceleration, and running and static of a vehicle equipped with the device.
A detection unit that detects output noise generated by the acceleration from the acceleration detection unit when stopped , and a moving body that mounts the device when the output noise level detected by the detection unit is less than or equal to a preset threshold value. Determining means for determining that the vehicle is stationary, speed detecting means for determining a speed obtained by integrating acceleration and acceleration output from the acceleration detecting means while the determining means determines that the vehicle is stationary, and A vehicle navigation device comprising: a correction unit that corrects an offset of a speed from the speed detection unit and an output from the acceleration detection unit while the determination unit determines that the vehicle is in a stationary state. 3. A vehicle navigation device that detects a current absolute position, azimuth, and relative azimuth to obtain a traveling distance and a traveling speed, and detects a current position and a traveling direction of a moving body equipped with the device. Acceleration detecting means for detecting acceleration, and running and static of a vehicle equipped with the device.
Detecting means for detecting the amplitude value of the output noise of the acceleration from the acceleration detecting means in a fixed period including the stop time, and determining the minimum of the output noise amplitude value detected by the detecting means,
Threshold setting means for setting a multiplication value of a certain ratio or an addition value of a certain value to this value as a threshold, and a movement for mounting the device when the value is equal to or less than the threshold set by the threshold setting means. Determination means for determining that the body is in a stationary state, and speed detection means for determining a speed obtained by integrating the acceleration and the acceleration output from the acceleration detection means while the determination means determines that the vehicle is in a stationary state. And a correction means for correcting the offset of the speed from the speed detection means and the output from the acceleration detection means while the determination means determines that the vehicle is in a stationary state. Navigation device.