JP3557834B2 - Vehicle absolute position calculation method - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle absolute position calculation method for calculating an absolute position of a vehicle, and particularly to a vehicle absolute position calculation method suitable for use in automatic follow-up control of a vehicle., Vehicle absolute position calculation device and vehicle follow-up control systemAbout.
[0002]
[Prior art]
2. Description of the Related Art In recent years, in order to streamline transportation by lorries and reduce traffic accidents, the development of an automatic following system using an expressway or the like has been promoted. The auto-following traveling system automatically drives an unmanned (or manned) following vehicle on a leading vehicle driven by the driver, thereby reducing the number of drivers and causing a collision caused by a drowsy driving or the like. Accidents and the like can be prevented beforehand.
[0003]
As such an automatic following system, various systems such as a vehicle following system, a trajectory following system, and a driving information communication system have been proposed.
In the trajectory-following automatic following traveling system, the following vehicle measures the position of the leading vehicle using a relative position sensor or the like, and further translates and converts this position with the movement of the own vehicle. The traveling locus of the leading vehicle in the coordinate system is obtained, and the steering amount is controlled so that the deviation angle becomes zero.
[0004]
For example, in such an automatic following system, as shown in FIG. 5, the leading vehicle 100 includes a controller (ECU) 102, a yaw rate sensor 103, a vehicle speed sensor 104, a communication device 105, and a communication antenna 106. You.
The leading vehicle 100 calculates the traveling locus of the host vehicle based on detection information from the yaw rate sensor 103 and the vehicle speed sensor 104 by the controller 102.
[0005]
The travel locus information calculated by the controller 102 is transmitted to the following vehicle 101 via the communication device 105 and the communication antenna 106.
On the other hand, the following vehicle 101 is also provided with a controller (ECU) 107, a yaw rate sensor 108, a vehicle speed sensor 109, a communication device 111, and a communication antenna 110, and the controller 107 uses the detection information from the yaw rate sensor 108 and the vehicle speed sensor 109. Thus, the traveling locus of the own vehicle (following vehicle) is calculated.
[0006]
Then, the controller 107 compares the traveling locus information of the own vehicle (following vehicle) with the traveling locus information of the leading vehicle received via the communication antenna 110 and the communication device 111, and performs steering control so that these coincide. And vehicle speed control. Thus, the following vehicle 101 is made to follow the leading vehicle 100.
[0007]
[Problems to be solved by the invention]
However, in such a conventional automatic following system, the following vehicle 101 is made to follow the leading vehicle 100 based on the traveling locus calculated based on the detection information from the yaw rate sensor 103 and the vehicle speed sensor 104. Therefore, a predetermined tracking error occurs depending on the accuracy of the arithmetic processing and the accuracy of the control.
[0008]
For example, Japanese Patent Application Laid-Open No. HEI 8-282326 discloses a technique that improves the following accuracy of a following vehicle and eliminates the accumulation of errors in lateral deviation when a large number of following vehicles are automatically followed. There is technology.
According to this technology, the leading vehicle transmits traveling trajectory information including at least the lateral position of the own vehicle by the transmitting unit, while the following vehicle receives traveling trajectory information transmitted from the leading vehicle by the receiving unit, and the received traveling The driving control amount including the steering amount of the own vehicle is determined by the driving control amount determining means based on the trajectory information.
[0009]
However, according to this technique, first, the leading vehicle and the following vehicle are vertically aligned in a flat and straight place, and the horizontal direction distance to a reference line such as a center line is made the same so that the directions of the vehicles match. It is necessary, but in this case, it is difficult to accurately align them, and some errors are unavoidable.
In addition, since the coordinates for calculating the trajectory of the vehicle are set for each vehicle, if there is a misalignment between the leading vehicle and the following vehicle when starting, the coordinates of the coordinates between the leading vehicle and the following vehicle are determined. Absolute direction will be different.
[0010]
In this case, even if the steering amount of the following vehicle is controlled based on the traveling locus information of the leading vehicle so that the traveling locus of the following vehicle is the same as the traveling locus of the leading vehicle, the actual traveling of the following vehicle The trajectory does not coincide with the traveling locus of the leading vehicle, and the error between the traveling locus of the leading vehicle and the traveling locus of the following vehicle gradually increases.
The present invention has been made in view of such a problem, and when performing a vehicle follow-up control, even if there is a small difference in the direction of the vehicle at the time of vehicle alignment, it is also required to take into account arithmetic processing accuracy and control accuracy. A vehicle absolute position calculation method capable of performing high-precision vehicle following control even if a predetermined following error occurs., Vehicle absolute position calculation device and vehicle follow-up control systemThe purpose is to provide.
[0011]
[Means for Solving the Problems]
Therefore, the method for calculating the absolute position of a vehicle according to the first aspect of the present invention is based on the absolute position information of the vehicle measured before the vehicle starts using the satellite navigation system and immediately after the vehicle starts using the satellite navigation system. A first step of calculating a vehicle traveling direction before and after the vehicle starts from the absolute position information of the vehicle measured at the time of the vehicle start;Immediately afterA second step of measuring a yaw angle generated in the vehicle, a third step of calculating a direction of the vehicle before starting from the vehicle traveling direction and the yaw angle, and an absolute position before starting. The direction of the vehicle before the start is set as an initial value, and the vehicle speed and the yaw angle are used as the initial values.ExpectationAnd a fourth step of calculating the position.
[0012]
According to a second aspect of the present invention, there is provided a method for calculating an absolute position of a vehicle according to the first aspect, wherein the fourth step is performed based on absolute position information of the vehicle measured using the satellite navigation system. Of the vehicle calculated byExpectationA fifth step of correcting the position is provided. After the above correction, the vehicle at the time of correction is provided.ExpectationFrom the position, the vehicle speed and the yaw angle,ExpectationIt is characterized by calculating the position.
According to a third aspect of the present invention, there is provided a vehicle absolute position calculating apparatus configured to execute a process in each step constituting the vehicle absolute position calculating method according to the first or second aspect.
According to a fourth aspect of the present invention, there is provided a vehicle follow-up control system according to the present invention, wherein the follow-up vehicle follows the leading vehicle, and is measured before the follow-up vehicle starts using a satellite navigation system. The absolute position information, and the vehicle navigation direction before and after the start of the following vehicle is calculated from the absolute position information measured immediately after the start of the following vehicle using the satellite navigation system, and immediately after the start of the following vehicle Calculate the yaw angle generated in the following vehicle, calculate the direction of the following vehicle before starting from the vehicle traveling direction and the yaw angle, obtain absolute position information before starting the following vehicle, and start the following vehicle. The vehicle is configured to calculate a predicted position of the following vehicle from a vehicle speed and a yaw angle of the following vehicle with the previous direction as an initial value, and to perform the following control of the following vehicle using the predicted position. Is characterized by .
According to a fifth aspect of the present invention, in the vehicle tracking control system according to the fourth aspect, when it is determined that the data of the satellite navigation system has changed, the absolute value of the following vehicle is determined based on the data of the satellite navigation system. It is characterized in that it is configured to correct an expected position in coordinates.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIGS. 1 to 4 show a method of calculating an absolute position of a vehicle according to an embodiment of the present invention., Vehicle absolute position calculation device and vehicle follow-up control systemFIG. Since the vehicle absolute position calculation method according to the present embodiment is used in a vehicle follow-up control system, the vehicle follow-up control system will be described first.
[0014]
This vehicle follow-up control system controls a plurality of follow-up vehicles 31 to follow a single leading vehicle 11 on a travel path 10 such as a highway.
As shown in FIG. 1, a driver 12 is mounted on the leading vehicle 11, and the steering wheel 13, the engine 14, and the transmission (T / M) 15, brake 16 and the like are operated. Then, control information of the steering 13, the engine 14, the transmission 15, the brake 16, and the like is transmitted to a communication ECU 20, which will be described later.
[0015]
The leading vehicle 11 is provided with an ECU 19, which calculates a traveling locus of the vehicle based on detection information from a vehicle speed sensor 17 that detects a traveling speed and a yaw rate sensor 18 that detects a yaw angular velocity. It is supposed to be. The traveling locus of the own vehicle (leading vehicle 11) is also transmitted to the communication ECU 20.
[0016]
Further, the leading vehicle 11 is provided with a satellite navigation system antenna (hereinafter, referred to as GPS antenna) 24 and a satellite navigation system receiver (hereinafter, referred to as GPS receiver) 25, and these GPS antenna 24 and GPS The receiver 25 can receive absolute position information (absolute coordinate data, GPS data) from the artificial satellite 50. The absolute position information detected by the GPS receiver 25 is also transmitted to the communication ECU 20.
[0017]
The satellite navigation system is a high-precision satellite that receives not only absolute position information from the artificial satellite 50 but also information from the base station 51 whose latitude and longitude are clear in order to obtain more accurate absolute position information. The navigation system (high precision GPS) is used.
The communication ECU 20 manages information related to reception or transmission. The communication ECU 20 receives travel trajectory information of the own vehicle from the ECU 19, absolute position information from the GPS receiver 25, and control information of the steering 13, the engine 14, the transmission 15, the brake 16, and the like. The data is transmitted to the immediately following vehicle 31 via the inter-communication device 21. The communication ECU 20 also receives control information of the immediately following vehicle 31 via the front-to-back communication device 21.
[0018]
A display panel 22 is provided in the vicinity of the driver's seat of the leading vehicle 11, and displays information transmitted from the communication ECU 20 to the immediately following vehicle 31 via the front-to-back communication device 21. Thereby, the driver 12 can know the information transmitted from the communication ECU 20 to the immediately following vehicle 31 via the front-to-back communication device 21. In FIG. 1, reference numeral 23 denotes a reflector that reflects a light beam from the following distance sensor 39 provided on the following vehicle 31.
[0019]
On the other hand, the following vehicle 31 is provided with an operation mode changeover switch 42 for switching between an auto mode and a manual mode. When the operation mode is the auto mode, the steering ECU 33, the engine 34, and the transmission 35 are controlled by the control ECU 32 instead of the driver. , Brake 36 and the like are operated. When the driving mode changeover switch 42 is switched to the manual mode, the driving by the driver becomes possible as in the case of the leading vehicle 11.
[0020]
For this purpose, the following vehicle 31 is provided with a control ECU 32. The control ECU 32 is provided with a vehicle speed sensor 37 for detecting the traveling speed of the host vehicle, a yaw rate sensor 38 for detecting the yaw angular speed, and an inter-vehicle distance to the leading vehicle 11. Detection information from the inter-vehicle distance sensor 39 to be measured is transmitted.
Further, the following vehicle 31 is provided with a communication ECU 40 for managing information relating to reception or transmission. The communication ECU 40 transmits the traveling locus information and the absolute position information of the leading vehicle 11 transmitted from the front-to-back communication device 41a. It receives and sends it to the control ECU 32. The communication ECU 40 receives control information from the control ECU 32 and transmits the control information to the front-to-back communication device 21 of the preceding leading vehicle 11 via the front-to-back communication device 41a.
[0021]
The communication ECU 40 is also connected to a front-to-back communication device 41b that communicates with the immediately following vehicle, and transmits various kinds of information to the immediately following vehicle via the front-to-back communication device 41b. It is supposed to.
In addition, the following vehicle 31 is provided with a GPS antenna 44 and a GPS receiver 45. The GPS antenna 44 and the GPS receiver 45 use the GPS antenna 44 and the GPS receiver 45 in addition to the absolute position information (absolute coordinate data) from the artificial satellite 50 and the base station. Information from the station 51 can also be received. Then, the absolute position information received by the GPS receiver 45 is transmitted to the control ECU 32.
[0022]
When the absolute position information from the artificial satellite 50 cannot be received due to the inside of a tunnel or the like, the absolute position information received by the control ECU 32 is not changed. Then, it is determined whether or not the location, such as in a tunnel, cannot receive the absolute position information based on whether the absolute position information has changed.
The control ECU 32 controls the output of the engine 34 based on the detection information from the inter-vehicle distance sensor 39 so that the actual inter-vehicle distance between the leading vehicle 11 and the following vehicle 31 becomes a safe inter-vehicle distance in advance according to the vehicle speed and the like. The operation control of the brake and the brake 36 is performed, and the movement of the following vehicle 31 in the front-rear direction (vertical direction) is controlled.
[0023]
On the other hand, the movement of the following vehicle 31 in the left-right direction (lateral direction) is calculated based on the detection information from the vehicle speed sensor 37 and the yaw rate sensor 38 to determine the deviation between the traveling locus of the leading vehicle 11 and the moving position of the following vehicle 31. The operation is controlled by operating the steering 33 so as to reduce this.
In controlling the following vehicle 31, the position of the following vehicle 31 is periodically corrected by a correction unit 32 </ b> A provided in the control ECU 32.
[0024]
Next, vehicle follow-up control using the vehicle absolute position calculation method according to the present embodiment will be described with reference to the flowchart shown in FIG.
As shown in FIG. 2, in step S10, the control ECU 32 of the following vehicle 31 determines whether the following vehicle 31 has started (started) in order to determine the traveling direction before and after the following vehicle 31 starts moving. It is determined whether the vehicle has traveled a predetermined distance.
[0025]
As a result of this determination, when it is determined that the following vehicle 31 has not started, the process proceeds to step S20, in which the output control of the engine 34 and the operation control of the brake 36 of the following vehicle 31 are performed, so that the vehicle This control is repeated until it is determined that the following vehicle 31 has started. When it is determined that the following vehicle 31 has started in this way, the following vehicle 31 is controlled in the front-rear direction and the left-right direction to follow the leading vehicle 11.
[0026]
Then, the process proceeds to step S30, where the control ECU 32 of the following vehicle 31 determines whether the following vehicle 31 has started or not based on the GPS data (absolute position coordinates of the following vehicle) before and after the starting of the following vehicle 31 received by the GPS receiver 45. , Ie, the traveling direction angle θ of the following vehicle 31 with respect to the X axis of the absolute coordinates._gps1(See FIG. 3) (first step).
[0027]
That is, the control ECU 32 of the following vehicle 31 calculates the traveling direction angle θ of the following vehicle 31 with respect to the X axis of the absolute coordinates._gps1Is, as shown in FIG. 3, the absolute position (X₀, Y₀) And the absolute position (X₁, Y₁) And is calculated by the following equation.
θ_gps1= Tan^-1[(Y₁-Y₀) / (X₁-X₀)] ・ ・ ・ (1)
In FIG. 3, the vertical axis is the X axis and the horizontal axis is the Y axis. In addition, the following vehicle 31 can receive GPS data from the state before the start thereof by the GPS receiver 45 at regular intervals.
[0028]
Next, in step S40, the control ECU 32 of the following vehicle 31 double-integrates the output of the yaw rate sensor 38, and the yaw angle に generated in the following vehicle 31 before and after the following vehicle 31 starts moving.₁(Second step), and the process proceeds to step S50.
In step S50, the traveling direction angle θ of the following vehicle 31 obtained in step S30_gps1And the yaw angle 追 of the following vehicle 31 calculated in step S40₁From the above, the control ECU 32 of the following vehicle 31 determines the direction of the following vehicle 31 before starting, that is, the angle θ of the following vehicle 31 with respect to the X axis of the absolute coordinates before starting.₀Is calculated (third step).
[0029]
That is, as shown in FIG. 3, the traveling direction angle θ of the following vehicle 31_gps1From the yaw angle 前後 generated before and after the starting of the following vehicle 31₁Is calculated by subtracting the absolute coordinate of the following vehicle 31 before starting from the X-axis (θ_gps1−Θ₁) Is the initial angle θ₀At the same time as the initial setting,₀Is set to 0.
In this manner, the angle (θ) of the absolute coordinates of the following_gps1−Θ₁) Is obtained, and the direction of the following vehicle 31 before starting can be known. Therefore, if the following traveling of the following vehicle 31 is performed in consideration of this, the traveling locus of the traveling trajectory caused by a small difference in the direction of the vehicle when the vehicle is set is set. The displacement can be prevented, and a high-precision following can be performed.
[0030]
After the following vehicle 31 has started following, the control ECU 32 of the following vehicle 31 determines in step S60 whether the following vehicle 31 is in a location where GPS data cannot be received, such as in a tunnel, by the GPS receiver 45. The determination is made based on whether or not the GPS data from has changed.
If the result of this determination is that the GPS data has changed, the routine proceeds to step S70, where it is determined whether or not the current position is a position correction cycle for correcting the position of the following vehicle 31 based on this GPS data. Since it is not a cycle, the process proceeds to step S100.
[0031]
Note that the position correction cycle is a predetermined constant cycle for correcting a tracking error generated according to arithmetic processing accuracy and control accuracy, and the first position correction cycle after a predetermined time has elapsed since the start of tracking. It comes to come.
In step S100, the control ECU 32 of the following vehicle 31 determines the yaw angle Θ detected based on the detection outputs of the yaw rate sensor 38 and the vehicle speed sensor 37, respectively._n, Vehicle speed V_nThen, at step S110, as shown in FIG._nAnd vehicle speed V_nFrom this, the expected position (X_N', Y_N') (Fourth step). Note that the expected position (X_N', Y_N') Indicates the position of the following vehicle 31 obtained by calculation.
[0032]
That is, in this case, since the GPS data does not change, the direction of the following vehicle 31 according to the above equation (1), that is, the angle θ of the absolute coordinates of the following vehicle 31 with respect to the X axis._gpsNCan not be asked. Therefore, the initial angle θ of the following vehicle 31₀And initial yaw angle Θ₀And the current yaw angle Θ_nAnd the expected position (X_N', Y_N') Is calculated as follows.
[0033]
First, the expected yaw angle θ in the absolute coordinates of the following vehicle 31_N'Is determined by the following equation. Note that the expected yaw angle θ_N'Denotes the yaw angle of the following vehicle 31 obtained by calculation.
θ_N′ ← θ₀+ Θ_n−Θ₀
In this case, immediately after starting, the initial angle θ₀And initial yaw angle Θ₀Until is updated, it can be expressed by the following equation.
[0034]
θ_N′ ← θ_gps1−Θ₁+ Θ_n
Anticipated yaw angle θ in absolute coordinates of the following vehicle 31_N′, The expected position (X_N', Y_N') Is obtained by the following equations (2) and (3), respectively.
X_N'← ∫V_n・ Cos θ_N'... (2)
Y_N'← ∫V_n・ Sin θ_N'... (3)
Thus, the angle θ of the absolute coordinates of the following vehicle 31 before starting with respect to the X axis_gps0Is determined, the yaw angle Θ detected by the yaw rate sensor 38 and the vehicle speed sensor 37, respectively._n, Vehicle speed V_nOf the following vehicle 31 in the absolute coordinates (X_N', Y_N'), The following vehicle 31 can follow the leading vehicle 11 even when the following vehicle 31 enters a place where GPS data cannot be received, such as in a tunnel.
[0035]
In this way, the expected position (X_N', Y_N'), The expected position (X in absolute coordinates) of the following vehicle 31 is determined in step S90._N', Y_N') And expected yaw angle θ in absolute coordinates_N′, The steering 33 is operated and controlled so as to reduce the deviation from the traveling locus of the leading vehicle 11 to control the following vehicle 31 in the left-right direction, while controlling the output of the engine 34 and operating the brake 36. By performing the control, the movement of the following vehicle 31 in the front-rear direction is controlled to cause the following vehicle 31 to follow the leading vehicle 11, and the process returns to step S60.
[0036]
Until the next position correction cycle, the processing of steps S60, S70, S100, S110, and S90 is repeated.
Thereafter, when the position correction cycle starts, the process proceeds from step S70 to step S80, and the direction θ of the following vehicle 31 is determined from the GPS data before and after the change._gpsNIs calculated. That is, the previous absolute position (X_N-1, Y_N-1) And the absolute position (X_N, Y_N), The direction of the following vehicle 31, that is, the angle θ of the absolute coordinates of the following vehicle 31 with respect to the X axis is calculated by the above equation (1)._gpsN, And the process proceeds to step S85.
[0037]
In step S85, the correcting means 32A of the control ECU 32 of the following vehicle 31 calculates the expected position (X) of the following vehicle 31 in absolute coordinates obtained in step S110._N', Y_N′) Represents the absolute position (X) of the following vehicle 31 received by the GPS receiver 45._N, Y_N), And the expected yaw angle θ in the absolute coordinates of the following vehicle 31 obtained in step S110._N′ To the direction θ of the following vehicle 31 determined in step S80._gpsNTo the absolute position of the following vehicle 31 (X_N, Y_N) And the absolute yaw angle θ of the following vehicle 31_NIs calculated (fifth step). At the same time, in step S85, θ₀← θ_gpsN, Θ₀← Θ_nAs the initial angle θ₀And initial yaw angle Θ₀To update.
[0038]
Note that the processes in steps S80 and S85 are performed only when the position correction cycle is determined as the fixed period in step S70, so that the correction based on the GPS data is performed periodically.
In this way, the expected position (X_N', Y_N') And expected yaw angle θ in absolute coordinates_N′ To the absolute position (X_N, Y_N) And the direction θ of the following vehicle 31_gpsNTherefore, by performing the correction periodically, even if a predetermined tracking error occurs according to the calculation processing accuracy and the control accuracy, the vehicle tracking control with high accuracy can be performed. Also, the initial angle θ₀And initial yaw angle Θ₀Is also updated, so that the correction result is also reflected in subsequent processing in steps S100 and S110, and the estimated yaw angle θ_N'Can be kept high.
[0039]
Next, the process proceeds to step S90, where the absolute position of the following vehicle 31 (X_N, Y_N) And absolute yaw angle θ_N, The steering 33 is operated and controlled so that the deviation from the running locus of the leading vehicle 11 is reduced, so that the following vehicle 31 is controlled in the left-right direction, and the output control of the engine 34 and the operation control of the brake 36 are performed. Is performed, the movement of the following vehicle 31 in the front-rear direction is controlled, and the following vehicle 31 is made to follow the leading vehicle 11, and the process returns to step S60.
[0040]
Until the next position correction cycle, the processing of steps S60, S70, S100, S110, and S90 is repeated. In this case, the absolute position of the following vehicle 31 corrected by the correction means 32A of the control ECU 32 (X_N, Y_N) And the absolute yaw angle θ of the following vehicle 31_NAnd the yaw angle Θ of the following vehicle 31 based on_nFrom the following, the expected position (X_N', Y_N') And expected yaw angle θ_N'Is required.
[0041]
If the following vehicle 31 enters a location where GPS data cannot be received, such as in a tunnel, it is determined in step S60 that the GPS data has not changed, and the process proceeds to step S100. Steps S110 and S90 are repeated.
Thus, even when the following vehicle 31 enters a place where GPS data cannot be received, such as in a tunnel, the following vehicle 31 can accurately follow the leading vehicle 11.
[0042]
In the following control of the following vehicle 31 in the following manner, an operation performed by performing control based on the absolute position of the vehicle will be described.
As shown by the broken line in FIG. 4, when the following vehicle 31 is not controlled based on the absolute position of the vehicle (that is, when the following vehicle is not controlled based on the GPS data), the traveling locus of the following vehicle 31 is the traveling locus of the leading vehicle 11. Even if it is controlled so as to be the same as above, if there is a deviation in the direction of the vehicle before starting, the actual traveling locus of the following vehicle 31 gradually moves away from the traveling locus of the leading vehicle 11 and a large error occurs. Will be.
[0043]
On the other hand, as shown by the solid line in FIG. 4, when the following vehicle 31 is controlled based on the absolute position of the vehicle (that is, when the following vehicle is not controlled based on the GPS data), the traveling locus of the leading vehicle 11 and the following The actual running locus of the car 31 can be made to substantially match.
As a result, there is an advantage that the following performance in the following control of the vehicle can be improved.
[0044]
That is, even if there is a small difference in the direction of the vehicle when the vehicle is set when performing the following control of the vehicle, the direction θ of the following vehicle 31 before the start is calculated from the absolute position of the following vehicle 31 before and after the start._gps0And the direction θ of the following vehicle 31 before the start_gps0And the absolute position (X₀, Y₀) As an initial value, the expected position (X_N', Y_NSince the following vehicle 31 is controlled in accordance with the condition (1), there is an advantage that highly accurate vehicle following control can be performed.
[0045]
In addition, the direction θ of the following vehicle 31 before starting_gps0Is calculated based on the detection outputs of the yaw rate sensor 38 and the vehicle speed sensor 37, the expected position (X_N', Y_N'), The following vehicle 31 can accurately follow the leading vehicle 11 even when the following vehicle 31 enters a place where GPS data cannot be received, such as in a tunnel. There is.
[0046]
Further, when the following vehicle 31 is controlled to follow the leading vehicle 11, even if a predetermined following error occurs according to arithmetic processing accuracy or control accuracy, the position of the following vehicle 31 is periodically determined by the GPS data. Is corrected, it is possible to perform high-precision vehicle following control.
Although the method for calculating the absolute position of the vehicle according to the present embodiment has been described as being used for follow-up control of the vehicle, the application of the method for calculating the absolute position of the vehicle is not limited to this. It can be used as a method to know the position.
[0047]
In the method for calculating the absolute position of the vehicle according to the present embodiment, the calculation is performed based on the absolute position information of the high-precision GPS. Is also good.
[0048]
【The invention's effect】
As described in detail above, claim 1, 3,4Of the vehicle of the invention describedAbsolute position calculation method, vehicle absolute position calculation device, and vehicle follow-up control systemAccording to the above, even when the satellite navigation system cannot be used while the vehicle is running in a tunnel or the like,ExpectationThere is an advantage that the position can be calculated.
[0049]
Claim 2, 5Method of calculating absolute position of vehicle according to the present inventionAnd vehicle follow-up control systemAccording to the calculation based on the vehicle speed and yaw angleExpectationThe position is periodically corrected based on information from the satellite navigation system, so it is based on vehicle speed and yaw angle.ExpectationThere is an advantage that the calculation accuracy of the position can be increased. Even if the satellite navigation system becomes unavailable,ExpectationThere is also an advantage that the position calculation accuracy can be improved.
[Brief description of the drawings]
FIG. 1 is a configuration diagram schematically showing a vehicle follow-up control system according to an embodiment of the present invention.
FIG. 2 is a flowchart for explaining an absolute position calculation method of the vehicle follow-up control system according to one embodiment of the present invention.
FIG. 3 is a schematic diagram for explaining an absolute position calculation method of the tracking control system according to one embodiment of the present invention.
FIG. 4 is a schematic diagram for explaining the operation and effect of the vehicle follow-up control system according to one embodiment of the present invention.
FIG. 5 is a configuration diagram schematically showing a conventional vehicle follow-up control system.
[Explanation of symbols]
11 Leading car
12 Driver
13,33 Steering
14,34 engine
15,35 transmission
16,36 brake
17,37 Vehicle speed sensor
18,38 Yaw rate sensor
19 ECU
20,40 Communication ECU
21, 41a, 41b Communication device before and after
22 Display panel
23, 43 Reflector
24,44 Satellite navigation system antenna (GPS antenna)
25,45 Receiver for satellite navigation system (GPS receiver)
31,51 Following vehicle
32 Control ECU
32A correction means
39 Inter-vehicle distance sensor
42 Mode switch
50 artificial satellites (high-accuracy satellite navigation system)
51 Base Station of High Precision Satellite Navigation System
100 leading car
101 Following car
102, 107 Controller (ECU)
103,108 Yaw rate sensor
104,109 Vehicle speed sensor
105,111 communication equipment
106,110 Communication antenna

Claims (5)

From the absolute position information of the vehicle measured before starting the vehicle using the satellite navigation system and the absolute position information of the vehicle measured immediately after starting the vehicle using the satellite navigation system, the traveling direction of the vehicle before and after the vehicle starts A first step of calculating
A second step of measuring a yaw angle generated in the vehicle immediately after the vehicle starts;
A third step of calculating the direction of the vehicle before starting from the vehicle traveling direction and the yaw angle;
A fourth step of calculating an expected position of the vehicle from the vehicle speed and the yaw angle using the absolute position before the start and the direction of the vehicle before the start as initial values;
A method for calculating an absolute position of a vehicle, comprising: A fifth step of correcting the predicted position of the vehicle calculated in the fourth step based on the absolute position information of the vehicle measured by using the satellite navigation system;
2. The vehicle absolute position calculating method according to claim 1, wherein after the correction, the predicted vehicle position is calculated from the predicted vehicle position at the time of the correction and the subsequent vehicle speed and yaw angle. An absolute position calculating device for a vehicle, characterized in that it is configured to execute processing in each step constituting the absolute position calculating method for a vehicle according to claim 1 or 2. A tracking control system for a vehicle that causes a following vehicle to follow a leading vehicle,
  The start of the following vehicle based on absolute position information measured before the start of the following vehicle using a satellite navigation system and the absolute position information measured immediately after the start of the following vehicle using the satellite navigation system. Calculate the vehicle traveling direction before and after,
  Calculate the yaw angle generated in the following vehicle immediately after the start of the following vehicle,
  Calculate the direction of the following vehicle before starting from the vehicle traveling direction and the yaw angle,
  Using the absolute position information of the following vehicle before starting and the direction of the following vehicle before starting as initial values, calculating the expected position of the following vehicle from the vehicle speed and yaw angle of the following vehicle, and calculating the expected position. A vehicle follow-up control system configured to perform the follow-up control of the following vehicle using the vehicle. The method according to claim 4, wherein when it is determined that the data of the satellite navigation system has changed, the predicted position in the absolute coordinates of the following vehicle is corrected based on the data of the satellite navigation system. Vehicle tracking control system.

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