JPH03137515A - Correcting apparatus of distance in autonomous navigation - Google Patents

Correcting apparatus of distance in autonomous navigation

Info

Publication number
JPH03137515A
JPH03137515A JP27479189A JP27479189A JPH03137515A JP H03137515 A JPH03137515 A JP H03137515A JP 27479189 A JP27479189 A JP 27479189A JP 27479189 A JP27479189 A JP 27479189A JP H03137515 A JPH03137515 A JP H03137515A
Authority
JP
Japan
Prior art keywords
distance
running distance
stored
value
corrected
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
JP27479189A
Other languages
Japanese (ja)
Other versions
JPH0794986B2 (en
Inventor
Tetsuya Ito
哲也 伊東
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nissan Motor Co Ltd
Original Assignee
Nissan Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nissan Motor Co Ltd filed Critical Nissan Motor Co Ltd
Priority to JP1274791A priority Critical patent/JPH0794986B2/en
Publication of JPH03137515A publication Critical patent/JPH03137515A/en
Publication of JPH0794986B2 publication Critical patent/JPH0794986B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)
  • Measurement Of Distances Traversed On The Ground (AREA)
  • Navigation (AREA)

Abstract

PURPOSE:To determine an exact running distance by determining a comparative value through comparison of a distance in a straight line between two points measured on the basis of a standard air pressure at the radius of a tire, an actual running distance, informations on a map and others, and by determining the running distance by updating and correcting a reference value with time. CONSTITUTION:First a position is checked up and corrected by map-matching, GPS, a receiver, a positional beacon, etc. and the coordinates and the azimuth of a reference position are stored and set. A counter of a pulse of a vehicle-speed meter being set, an average speed is computed in each sampling, a running distance is computed from a speed table, and a corrected and updated speed table is stored in a memory 3. An advance direction component (y) and an orthogonal direction component (x) are determined from the running distance and an azimuth angle, and (x) and (y) are added up and stored in a memory 4. Next, a distance D in a straight line is computed from the former position and a new position, the position is stored in a memory 2-1 while the azimuth is stored in 2-2, a comparative value C is determined by an equation I, and a reference value of an offset, value is corrected. This correction is repeated and an exact running distance is determined on the basis of the running distance computed, informations on a map or from outside, etc.

Description

【発明の詳細な説明】 [発明の目的] (産業上の利用分野) この発明は自立航法における距離の補正装置に関する。[Detailed description of the invention] [Purpose of the invention] (Industrial application field) The present invention relates to a distance correction device in self-contained navigation.

(従来の技術) 従来より車の走行距離の算出装置としては、例えばオド
メータ(距離計)がある。
(Prior Art) As a conventional device for calculating the mileage of a car, for example, there is an odometer (distance meter).

これは速度計に自動車の速さを指示するる装置と走行距
離を積算表示する装置とを設は運転者に時々刻々その状
態を知らせるようにしたものである(自動車技術会、昭
58年5月31日発行、自動車工学便覧第7編参照)。
This system was designed to inform the driver of the vehicle's condition from time to time by installing a device that indicates the speed of the vehicle on the speedometer and a device that displays the cumulative distance traveled (Automotive Engineers of Japan Society, May 1980). (Refer to Volume 7 of the Automotive Engineering Handbook, published on March 31st).

(発明が解決しようとする課題) しかし、このような従来の走行距離の算出方法にあって
は、タイヤの回転数に応じた走行距離(実際はプロペラ
シャフトの回転数に応じたもの)となっていたため、速
度変化によるタイヤ半径の変動、タイヤの摩耗、空気圧
、動荷重によるタイヤ径の変化などによって走行距離に
誤差が発生するという課題があった。
(Problem to be solved by the invention) However, in this conventional method of calculating mileage, the mileage is determined according to the number of rotations of the tires (actually, the number of rotations of the propeller shaft). Therefore, there was a problem in that errors in mileage occurred due to changes in tire radius due to changes in speed, tire wear, air pressure, changes in tire diameter due to dynamic loads, etc.

この発明は、このような従来の課題に着目してなされた
もので、タイヤ半径の標準空気圧、基準動荷重での速度
変化に対する基準値に基づき算出した実走行距離と、地
図上(マツプマツチング)、または外部からの情報(G
PS受信機あるいは位置ビーコン等)に基づいて測定し
た2点間の直線距離とを比較して比較値を求め、この比
較値によって前記基準値を補正し、この補正値によって
両組離間の誤差をなくし、正確な距離を求めることがで
きる自立航法における距離の補正装置を提供することを
目的としている。
This invention was made by focusing on such conventional problems, and it is based on the standard air pressure of the tire radius and the standard value for the speed change under the standard dynamic load. or information from outside (G
A comparison value is obtained by comparing the straight line distance between two points measured based on a PS receiver or position beacon, etc., the reference value is corrected by this comparison value, and the error between the two sets is corrected by this correction value. It is an object of the present invention to provide a distance correction device for self-contained navigation, which can calculate accurate distances.

[発明の構成] (課題を解決するための手段) 上記目的を達成するために、この発明は、マツプマツチ
ング又は外部からの情報により所定の2点間の直線距離
を算出する第1の手段と、実際走行時の前記2点間の直
線距離をサンプリングにて速度テーブルの基準値に基づ
き算出する第2の手段と、前記第1の手段による算出値
と前記第2の手段による算出値とにより前記基準値を補
正す立 る第3の手段とからなる自書航法における距離の補正装
置とした。
[Structure of the Invention] (Means for Solving the Problem) In order to achieve the above object, the present invention provides a first means for calculating a straight-line distance between two predetermined points by map matching or information from the outside; a second means for calculating the straight-line distance between the two points during actual driving based on a reference value of a speed table by sampling; The present invention provides a distance correction device for autograph navigation, which comprises a third means for correcting the reference value.

(作用) 本発明の自立航法における距離の補正装置では上述のよ
うに、タイヤ半径の標準空気圧、基準動荷重での速度変
化に対する基準値に基づき算出した実走行距離と、地図
上または外部からの情報(GPS受信機あるいは位置ビ
ーコン等)に基づいて測定した2点間の直線距離とを比
較して比較値を求め、この比較値によって前記基準値を
経時的に更新補正し、この補正値によって走行距離を求
めるようにしたので、そのときどきの誤差のない、実際
走行時の正確な距離を求めることができる。
(Function) As described above, the distance correction device for self-contained navigation of the present invention calculates the actual travel distance calculated based on the standard tire radius tire pressure and the standard value for the speed change under the standard dynamic load, and the A comparison value is obtained by comparing the straight line distance between two points measured based on information (GPS receiver or position beacon, etc.), and the reference value is updated and corrected over time using this comparison value. Since the distance traveled is determined, it is possible to determine the exact distance at the time of actual travel without any errors from time to time.

(実施例) 以下、本発明の実施例を第1図〜第5図により説明する
(Example) Examples of the present invention will be described below with reference to FIGS. 1 to 5.

第1図は特許請求の範囲に対応するブロックダイヤグラ
ムで、1は自立航法装置を備え、例えば地図上の2点間
の距離を算出する第1の手段であり、2は速度テーブル
を備え、実走行による2点間の距離を算出する第2の手
段であり、また、3は前記両手段に基づき速度テーブル
の基準値を補正する第3の手段である。
FIG. 1 is a block diagram corresponding to the claims, in which 1 is equipped with an independent navigation device, for example, a first means for calculating the distance between two points on a map, and 2 is equipped with a speed table, and is a first means for calculating the distance between two points on a map. This is a second means for calculating the distance between two points during running, and 3 is a third means for correcting the reference value of the speed table based on both of the above-mentioned means.

第2図は第1図のステップ#1〜#8のフローチャート
、第3図は同じくステップ#9〜#12のフローチャー
ト、第4図及び第5図は計算方法の説明図である。
FIG. 2 is a flowchart of steps #1 to #8 in FIG. 1, FIG. 3 is a flowchart of steps #9 to #12, and FIGS. 4 and 5 are illustrations of the calculation method.

以下、具体的に、第2図に基づきステップの順を追って
説明する。
Hereinafter, the steps will be explained in detail based on FIG. 2.

(1)  まず最初に、マツプマツチング、GPS(G
lobalPositioningSystem)受信
機1位置ビーコン等により位置を確認。
(1) First, map matching, GPS (G
(lobalPositioningSystem) Receiver 1 position Confirm the position using a beacon, etc.

補正する。to correct.

(2)  基準となる位置、すなわち、緯度、経度また
は地図上の座標などを記憶させ、その方位とともにセッ
トする。この際、方位を0″とする。このとき、基準と
なる位置をメモリ1−1.方位をメモリ1−2として記
憶させる。
(2) Memorize a reference position, such as latitude, longitude, or coordinates on a map, and set it along with its direction. At this time, the orientation is set to 0''. At this time, the reference position is stored in memory 1-1 and the orientation is stored in memory 1-2.

(3)  車速メータのパルスのカウンタおよびポイン
タ(サンプリング時点での車速カウンタ)をセットする
(3) Set the pulse counter and pointer of the vehicle speed meter (vehicle speed counter at the time of sampling).

車速カウンタは車速パルス発生時で常時カウントアツプ
する。このとき、車速カウンタ及びポインタをメモリ2
として記憶させる。なお、サンプリング中はポインタの
みセットする。
The vehicle speed counter always counts up when a vehicle speed pulse occurs. At this time, the vehicle speed counter and pointer are stored in memory 2.
be memorized as Note that only the pointer is set during sampling.

(4)  サンプリング毎にメモリ2により平均速度を
計算する。その際メモリ3としての速度テーブルの基準
値を採用する。
(4) Calculate the average speed using memory 2 for each sampling. At this time, the reference value of the speed table as the memory 3 is adopted.

サンプリング1タイム (5)  速度テーブルにより走行距離Δdを計算する
Sampling 1 time (5) Calculate travel distance Δd using the speed table.

A・・・[(カウンタ)−(ポインタ)]]基準−−走
行距離−Δ d・・・速度テーブルの基準値即ちCxCx−−−CL
 〜C1,。
A...[(Counter)-(Pointer)]]Reference--Distance traveled-Δ d...Reference value of speed table, that is, CxCx---CL
~C1,.

AXCx−△d 表は標準空気圧、基準動荷重時のものである。AXCx-△d The table is for standard air pressure and standard dynamic load.

速度テーブルは以下に述べるオフセツト値が決まると基
準値Rは補正され、その補正された新たな速度テーブル
がメモリ3として記憶される。
In the speed table, once the offset value described below is determined, the reference value R is corrected, and the new corrected speed table is stored as the memory 3.

(6)  メモリ2を参照して、サンプリング毎の方位
角θ0を読みこみ検出する。
(6) Referring to the memory 2, read and detect the azimuth θ0 for each sampling.

(7)  走行距離Δdおよび方位角θ°より第4図を
参照して2点PQ間の各サンプリング時の進行方向の成
分yおよび直交方向の成分Xを求める。
(7) From the traveling distance Δd and the azimuth angle θ°, with reference to FIG. 4, determine the component y in the traveling direction and the component X in the orthogonal direction at each sampling time between the two points PQ.

ΔdXcos  θ−y ΔdXsinθ−X (8)  上記Xおよびyを加算し、メモリ4として記
憶させる(第4図参照) 以上が終了すると車を止め、その時点で位置の補正が不
十分であったら再び(3)項で述べた操作、すなわち、
車速メータのパルスにより車速カウンタおよびポインタ
をセットし、再び上記工程を繰り返す。一方、十分であ
れば次に進む。
ΔdXcos θ−y ΔdXsin θ−X (8) Add the above The operations mentioned in section (3), i.e.
The vehicle speed counter and pointer are set by the pulse of the vehicle speed meter, and the above steps are repeated again. On the other hand, if it is sufficient, proceed to the next step.

次に第3図による後段の工程をステップ順に説明する。Next, the subsequent process shown in FIG. 3 will be explained step by step.

(9)  旧位置と新位置2点間の補正位置座標(緯度
、経度または地図上の座標、メモリ1−1にょる)によ
り直線距離をD求める。
(9) Find the straight line distance D from the corrected position coordinates (latitude, longitude, or coordinates on the map, stored in memory 1-1) between the old position and the new position.

(10)上記(2)項と同様に位置をメモリ2−1に、
方位をメモリ2−2に記憶させる。
(10) Same as above (2), set the location to memory 2-1,
The direction is stored in the memory 2-2.

(I+3  (8)と(9)で求めた距離の比較計算を
する。
(I+3 Compare and calculate the distances obtained in (8) and (9).

(第5図を参照のこと) ■ 上記比較値Cによりオフセット値の基準値Rの補正
をする。
(Refer to FIG. 5) (1) Correct the reference value R of the offset value using the comparison value C mentioned above.

RXC−R(比較補正値) この比較補正値を上記(3)項に戻して工程を繰返し、
走行距離と、地図上または外部からの情報などに基づい
てn1定した2点間の直線距離との誤差をなくし、正確
な走行距離を求めるものである。
RXC-R (comparison correction value) Return this comparison correction value to the above (3) and repeat the process.
This method eliminates the error between the distance traveled and the straight-line distance between two points determined by n1 based on information on the map or from outside, and determines the accurate distance traveled.

以上説明してきたように、本実施例の自立航法における
距離の補正装置は上述のように、タイヤ半径の標準空気
圧、基準動荷重での速度変化に対する基準値に基づき算
出した走行距離と、地図上または外部からの情報(GP
S受信機あるいは位置ビーコン等)に基づいて測定した
2点間の直線距離と比較して比較値を求め、この比較値
によって前記基準値を補正するようにしたので、この補
正値によって同距離間の誤差をなくし、正確な距離を求
めることができる。
As explained above, the distance correction device in self-contained navigation of this embodiment calculates the travel distance calculated based on the standard air pressure of the tire radius and the standard value for the speed change under the standard dynamic load, and the distance corrected on the map. or information from outside (GP
A comparison value is obtained by comparing the straight line distance between two points measured based on the S receiver or position beacon, etc., and the reference value is corrected by this comparison value. Errors can be eliminated and accurate distances can be determined.

以上、本発明の実施例を図面により詳細に説明してきた
が、具体的な構成は、この実施例に限定されるものでは
なく、本発明の要旨を逸脱しない範囲における設計変更
等があっても本発明に含まれる。
Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to these embodiments, and design changes may be made without departing from the gist of the present invention. Included in the present invention.

[発明の効果コ 本発明の自立航法における距離の補正装置では上述のよ
うに、地図上、または外部からの情報などに基づいて測
定した2点間の直線距離と、実際に車が走行した2点間
を速度変化に対する基準値に基づき算出した直線距離に
おき換えたものとを比較して比較値を求め、この比較値
によって前記基準値を補正するようにしたため、この補
正値によって同距離間の誤差をなくすることかができ、
実際走行時の正確な距離を求めることができるという効
果が得られる。
[Effects of the Invention] As described above, the distance correction device for self-contained navigation according to the present invention calculates the straight-line distance between two points measured on the map or based on information from the outside, and the distance actually traveled by the car. A comparison value is obtained by comparing the distance between points with the straight line distance calculated based on the reference value for speed change, and the reference value is corrected by this comparison value. It is possible to eliminate the error of
This provides the advantage of being able to determine an accurate distance during actual travel.

【図面の簡単な説明】[Brief explanation of the drawing]

第1図はこの発明の構成を示すブロックダイヤグラム、
第2図は第1図の前段のフローチャート、第3図は同じ
く後段のフローチャート、第4図および第5図は本発明
の自立航法における距離の補正装置の算出手段のための
基本図である。
FIG. 1 is a block diagram showing the configuration of this invention.
FIG. 2 is a flowchart in the first stage of FIG. 1, FIG. 3 is a flowchart in the second stage, and FIGS. 4 and 5 are basic diagrams for the calculation means of the distance correction device in self-contained navigation according to the present invention.

Claims (1)

【特許請求の範囲】[Claims] (1)マップマッチング又は外部からの情報により所定
の2点間の直線距離を算出する第1の手段と、実際走行
時の前記2点間の直線距離をサンプリングにて速度テー
ブルの基準値に基づき算出する第2の手段と、前記第1
の手段による算出値と前記第2の手段による算出値とに
より前記基準値を補正する第3の手段とからなる自立航
法における距離の補正装置。
(1) A first means of calculating the straight-line distance between two predetermined points using map matching or external information, and sampling the straight-line distance between the two points during actual driving based on the standard value of the speed table. a second means for calculating; and a second means for calculating the first
and third means for correcting the reference value using the value calculated by the means and the value calculated by the second means.
JP1274791A 1989-10-24 1989-10-24 Distance correction device for self-contained navigation Expired - Lifetime JPH0794986B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1274791A JPH0794986B2 (en) 1989-10-24 1989-10-24 Distance correction device for self-contained navigation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1274791A JPH0794986B2 (en) 1989-10-24 1989-10-24 Distance correction device for self-contained navigation

Publications (2)

Publication Number Publication Date
JPH03137515A true JPH03137515A (en) 1991-06-12
JPH0794986B2 JPH0794986B2 (en) 1995-10-11

Family

ID=17546610

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1274791A Expired - Lifetime JPH0794986B2 (en) 1989-10-24 1989-10-24 Distance correction device for self-contained navigation

Country Status (1)

Country Link
JP (1) JPH0794986B2 (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0518768A (en) * 1991-07-10 1993-01-26 Pioneer Electron Corp Gps navigation device
JP2002008198A (en) * 2000-04-21 2002-01-11 Sumitomo Rubber Ind Ltd Road surface information distribution system, vehicle information collecting and distribution system, vehicle information transmitter, and vehicle control program
JP2016103158A (en) * 2014-11-28 2016-06-02 村田機械株式会社 Movement amount estimation device, autonomous mobile body, and method of estimating movement amount
JP2016180628A (en) * 2015-03-23 2016-10-13 カシオ計算機株式会社 Electronic apparatus, distance calculation method, and program
JP2022055146A (en) * 2020-09-28 2022-04-07 株式会社トヨタマップマスター Information processing device, information processing method, and information processing program

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60120211A (en) * 1983-12-02 1985-06-27 Koito Mfg Co Ltd Running-distance measuring method
JPS60229799A (en) * 1984-04-27 1985-11-15 三菱電機株式会社 Navigator for car

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60120211A (en) * 1983-12-02 1985-06-27 Koito Mfg Co Ltd Running-distance measuring method
JPS60229799A (en) * 1984-04-27 1985-11-15 三菱電機株式会社 Navigator for car

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0518768A (en) * 1991-07-10 1993-01-26 Pioneer Electron Corp Gps navigation device
JP2002008198A (en) * 2000-04-21 2002-01-11 Sumitomo Rubber Ind Ltd Road surface information distribution system, vehicle information collecting and distribution system, vehicle information transmitter, and vehicle control program
JP2016103158A (en) * 2014-11-28 2016-06-02 村田機械株式会社 Movement amount estimation device, autonomous mobile body, and method of estimating movement amount
JP2016180628A (en) * 2015-03-23 2016-10-13 カシオ計算機株式会社 Electronic apparatus, distance calculation method, and program
JP2022055146A (en) * 2020-09-28 2022-04-07 株式会社トヨタマップマスター Information processing device, information processing method, and information processing program

Also Published As

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JPH0794986B2 (en) 1995-10-11

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