JPH0769181B2 - Vehicle direction detector - Google Patents
Vehicle direction detectorInfo
- Publication number
- JPH0769181B2 JPH0769181B2 JP1135817A JP13581789A JPH0769181B2 JP H0769181 B2 JPH0769181 B2 JP H0769181B2 JP 1135817 A JP1135817 A JP 1135817A JP 13581789 A JP13581789 A JP 13581789A JP H0769181 B2 JPH0769181 B2 JP H0769181B2
- Authority
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- Japan
- Prior art keywords
- vehicle
- turning radius
- speed
- turning
- detecting
- 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.)
- Expired - Lifetime
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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、両輪速差センサを備えて車両の走行方位を
検出する車両用走行方位検出装置に関する。Description: [Object of the Invention] (Industrial field of application) [0001] The present invention relates to a vehicle traveling azimuth detecting device that includes a two-wheel speed difference sensor and detects the traveling azimuth of a vehicle.
（従来の技術） 近年においては、目標地点と、出発地点と、出発地点か
らの走行軌跡及び車両の現在位置とを地図上に表示する
ようにした所謂ナビゲーションシステムが種々開発され
ている。(Prior Art) In recent years, various so-called navigation systems have been developed in which a target point, a starting point, a traveling locus from the starting point, and the current position of the vehicle are displayed on a map.
このようなナビゲーションシステムには、車両の走行方
位を検出するための車両用走行方位検出装置が組み込ま
れている。In such a navigation system, a vehicle traveling direction detection device for detecting the traveling direction of the vehicle is incorporated.
車両用走行方位検出装置としては、例えば地磁気センサ
を用いたものがある。地磁気センサとしては、例えばト
ロイダルコア型フラックスゲート式のものが用いられて
おり、この地磁気センサから地磁気ベクトルのＸ方向
（東西方向）成分、Ｙ方向（南北方向）成分を電気信号
Vx,Vyとして取出すようにしている。次にこれら電気信
号Vx,Vyを増幅器で増幅した後に方位メータへ出力して
方位指示を行わせるようにしている。2. Description of the Related Art As a vehicle traveling direction detection device, there is one using a geomagnetic sensor, for example. As a geomagnetic sensor, for example, a toroidal core type fluxgate type is used, and from this geomagnetic sensor, an X-direction (east-west direction) component and a Y-direction (south-north direction) component of the geomagnetic vector are converted into electric signals.
I try to extract it as Vx, Vy. Next, these electric signals Vx and Vy are amplified by an amplifier and then output to an azimuth meter for direction indication.
ところでこのような地磁気センサを用いた従来のナビゲ
ーションシステムを搭載した車両が例えば鉄道の踏切等
の通過する際に磁気を帯びる場合があり、このようない
わゆる車体着磁によって地磁気センサの示す方向に誤差
が生じる場合がある。By the way, a vehicle equipped with a conventional navigation system using such a geomagnetic sensor may be magnetized when passing, for example, at a railroad crossing, and such a so-called car body magnetization causes an error in the direction indicated by the geomagnetic sensor. May occur.
そこで車両を旋回させて車体着磁による地磁気センサの
誤差を補正するようにしたものが提案されている。とこ
ろが現実の問題として前述の如く一般的な走行時におい
て、地磁気センサの補正のためにのみ特別に車両を一周
旋回させることは運転者にとって煩わしくかつ不便であ
る。Therefore, there has been proposed a vehicle in which the vehicle is turned to correct the error of the geomagnetic sensor due to the magnetization of the vehicle body. However, as a practical problem, as described above, it is bothersome and inconvenient for the driver to make a special turn of the vehicle only for the purpose of correcting the geomagnetic sensor during general traveling.
そこで車両を旋回させることなく車体着磁による地磁気
センサの補正を行なうようなものが提案されている（特
開昭60−1510号公報）。Therefore, there has been proposed a method of correcting the geomagnetic sensor by magnetizing the vehicle body without turning the vehicle (JP-A-60-1510).
このような従来装置では、地磁気センサで地磁気を検出
し、コンピュータで地磁気の方向及び大きさを計測して
車両の進行方位等を表示すると共に、車両の一般的走行
中において各方向の地磁気を取込み、そのデータ値から
オフセットを計算して補正するようにしている。In such a conventional device, the geomagnetism is detected by the geomagnetic sensor, the direction and the magnitude of the geomagnetism are measured by the computer to display the traveling direction of the vehicle, etc., and the geomagnetism in each direction is taken in during the general traveling of the vehicle. The offset is calculated from the data value and corrected.
また他の従来例では走行時において地磁気センサの出力
がその基準値と大小比較され、両者の偏差が大きいとき
には前記基準値が大きく補正されると共に、両者の偏差
が小さいときには基準値が小さく補正されるようになっ
ている。このような補正を繰返すことにより、基準値が
車体着磁の磁界方向に移動して地磁気センサの東西南北
の方位間の出力差に縮小するようにしている（特開昭61
−153520号公報）。In another conventional example, the output of the geomagnetic sensor is compared with its reference value during traveling, and when the deviation between the two is large, the reference value is corrected to a large value, and when the deviation between the two is small, the reference value is corrected to a small value. It has become so. By repeating such correction, the reference value is moved in the direction of the magnetic field for magnetizing the vehicle body to reduce the output difference between the north, south, east, and west directions of the geomagnetic sensor (JP-A-61).
-153520).
（発明が解決しようとする課題） しかしながら、上述したような従来例の地磁気センサの
補正方法においては、車体着磁により地磁気センサの示
す方向に誤差あるいはずれが生じてから地磁気センサの
更生を開始し、その後車両の進行方向が変化した時点で
地磁気センサの更生が完了するようになっている。従っ
て地磁気センサの示す方向に誤差が生じてから更生が完
了するまでの間は誤差の大きな方位データを用いて車両
の現在位置を計算するようにしており、地磁気センサの
更生が完了した時点においても現在位置に誤差を生じて
しまう。(Problems to be Solved by the Invention) However, in the conventional method for correcting a geomagnetic sensor as described above, rehabilitation of the geomagnetic sensor is started after an error or deviation occurs in the direction indicated by the geomagnetic sensor due to vehicle body magnetization. After that, the rehabilitation of the geomagnetic sensor is completed when the traveling direction of the vehicle changes. Therefore, from the time the error occurs in the direction indicated by the geomagnetic sensor until the rehabilitation is completed, the current position of the vehicle is calculated using azimuth data with a large error, and even when the geomagnetic sensor rehabilitation is completed. An error will occur in the current position.
このように、地磁気センサは車体着磁によって検出誤差
が生じやすく、また地磁気センサの補正を行っても正確
な検出値が得られない。このため従来では、車両の絶対
的走行方位を検出する地磁気センサに、車両の相対的走
行方位を検出する両輪速差センサを組合わせ、より正確
な走行方位を検出するようにしているものがある。両輪
速差センサは、左右両輪の回転速度差を基に車両の旋回
角度を算出し、車両の相対的方位を検出するものであ
る。As described above, the geomagnetic sensor is likely to cause a detection error due to the magnetization of the vehicle body, and an accurate detection value cannot be obtained even if the geomagnetic sensor is corrected. For this reason, conventionally, there is a geomagnetic sensor that detects an absolute traveling direction of a vehicle, and a two-wheel speed difference sensor that detects a relative traveling direction of the vehicle are combined to detect a more accurate traveling direction. . The two-wheel speed difference sensor calculates the turning angle of the vehicle based on the rotational speed difference between the left and right wheels, and detects the relative azimuth of the vehicle.
上記旋回角度の算出にあたっては、アッカーマン理論に
よる車両モデルを用いているが、これは旋回時の旋回中
心が後輪車軸の延長上にあることを条件としている。と
ころが、例えば駐車場などにて車両が回転半径の小さい
急角度な旋回を行った場合には、タイヤにスリップなど
が発生して、上記旋回中心が後輪車軸上から車両前方側
に移動し、したがって前記車両モデルで算出した旋回角
度は、旋回半径が小さい程実際の旋回角より大きなもの
となって、正確な旋回角度が得られず、正確な走行方位
が検出できなくなる。A vehicle model based on Ackermann's theory is used in the calculation of the turning angle, provided that the turning center at the time of turning is on the extension of the rear wheel axle. However, for example, when a vehicle makes a sharp turn with a small turning radius in a parking lot or the like, a slip occurs in a tire, and the turning center moves from the rear wheel axle to the front side of the vehicle, Therefore, the turning angle calculated by the vehicle model becomes larger than the actual turning angle as the turning radius becomes smaller, so that an accurate turning angle cannot be obtained and an accurate traveling azimuth cannot be detected.
そこでこの発明は、車両が急角度な旋回を行った場合で
も、両輪速差センサによる検出精度を向上させることを
目的としている。Therefore, an object of the present invention is to improve the detection accuracy of the two-wheel speed difference sensor even when the vehicle makes a sharp turn.
（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、第１図（ａ）
に示すように、左右両輪の回転速度パルスを検出する両
輪速差センサ３と、車両の速度を検出する車速検出手段
11と、該車速検出手段11によって検出された車速に応じ
て前記両回転速度パルスを補正する補正手段13と、該補
正手段13によって補正された両回転速度パルスの差に基
づいて車両の旋回半径を求めるとともに、該旋回半径に
基づいて車両の旋回角度を演算する旋回角度演算手段５
とを有する構成としてある。(Means for Solving the Problem) In order to achieve the above object, the present invention is shown in FIG.
As shown in FIG. 2, a two-wheel speed difference sensor 3 for detecting rotation speed pulses of the left and right wheels, and a vehicle speed detecting means for detecting the speed of the vehicle.
11, a correction means 13 for correcting the both rotational speed pulses according to the vehicle speed detected by the vehicle speed detection means 11, and a turning radius of the vehicle based on the difference between the both rotational speed pulses corrected by the correction means 13. And a turning angle calculating means 5 for calculating the turning angle of the vehicle based on the turning radius.
It is configured to have and.
また、この発明は、第１図（ｂ）に示すように、左右両
輪の回転速度パルスを検出する両輪速差センサ３と、該
両輪速差センサ３によって検出された両回転速度パルス
の差に基づいて車両の旋回半径を演算する旋回半径演算
手段5aと、該旋回半径演算手段5aによって演算された旋
回半径に応じて前記両回転速度パルスを補正する補正手
段13と、該補正手段13によって補正された両回転速度パ
ルスの差に基づいて再度車両の旋回半径を求めるととも
に、該再度求めた旋回半径に基づいて車両の旋回角度を
演算する旋回角度演算手段5bとを有する構成としてもよ
い。Further, as shown in FIG. 1 (b), the present invention is based on the difference between the two-wheel speed difference sensor 3 for detecting the rotation speed pulses of the left and right wheels and the difference between the two rotation speed pulses detected by the two-wheel speed difference sensor 3. A turning radius calculation means 5a for calculating the turning radius of the vehicle based on the turning radius correction means, a correction means 13 for correcting the both rotation speed pulses according to the turning radius calculated by the turning radius calculation means 5a, and a correction means 13 It may be configured to have a turning angle calculation means 5b for calculating the turning radius of the vehicle again based on the difference between the two rotational speed pulses thus obtained and calculating the turning angle of the vehicle based on the calculated turning radius again.
さらに、この発明は、第１図（ｃ）に示すように、左右
両輪の回転速度パルスを検出する両輪速差センサ３と、
該両輪速差センサ３によって検出された両回転速度パル
スの差に基づいて車両の旋回半径を演算する旋回半径演
算手段5aと、車両の速度を検出する車速検出手段11と、
前記旋回半径演算手段5aによって演算された旋回半径と
前記車速検出手段11によって検出された車速とに応じて
前記両回転速度パルスを補正する補正手段13と、該補正
手段13によって補正された両回転速度パルスの差に基づ
いて再度車両の旋回半径を求めるとともに、該再度求め
た旋回半径に基づいて車両の旋回角度を演算する旋回角
度演算手段5bとを有する構成としてもよい。Further, according to the present invention, as shown in FIG. 1 (c), a two-wheel speed difference sensor 3 for detecting rotation speed pulses of the left and right wheels,
A turning radius calculation means 5a for calculating the turning radius of the vehicle based on the difference between the two rotation speed pulses detected by the two-wheel speed difference sensor 3, and a vehicle speed detection means 11 for detecting the speed of the vehicle,
Correction means 13 for correcting the both rotation speed pulses according to the turning radius calculated by the turning radius calculation means 5a and the vehicle speed detected by the vehicle speed detection means 11, and both rotations corrected by the correction means 13 It may be configured to have a turning angle calculation means 5b that calculates the turning radius of the vehicle again based on the difference between the speed pulses and calculates the turning angle of the vehicle based on the calculated turning radius again.
（作用） 第１図（ａ）の構成によれば、両輪速差センサ３によっ
て検出された左右両輪の回転速度パルスを、車速検出手
段11が検出した車速に応じて補正手段13によって補正
し、この補正された両回転速度パルスの差に基づいて旋
回角度演算手段５が車両の旋回半径を求め、求めた旋回
半径に基づいて車両の旋回角度を演算する。(Operation) According to the configuration of FIG. 1 (a), the rotation speed pulse of the left and right wheels detected by the two-wheel speed difference sensor 3 is corrected by the correction means 13 according to the vehicle speed detected by the vehicle speed detection means 11, The turning angle calculation means 5 calculates the turning radius of the vehicle based on the corrected difference between the two rotational speed pulses, and calculates the turning angle of the vehicle based on the calculated turning radius.
第１図（ｂ）の構成によれば、両輪速差センサ３によっ
て検出された左右両輪の回転速度パルスを、この両回転
速度パルスに基づき旋回半径演算手段5aが求めた旋回半
径に応じて補正手段13によって補正し、旋回角度演算手
段5bは、この補正された両回転速度パルスの差に基づい
て再度車両の旋回半径を求めるとともに、この求めた旋
回半径に基づいて車両の旋回角度を演算する。According to the configuration of FIG. 1 (b), the rotational speed pulses of the left and right wheels detected by the two-wheel speed difference sensor 3 are corrected according to the turning radius calculated by the turning radius calculation means 5a based on the both rotational speed pulses. Corrected by the means 13, the turning angle calculating means 5b calculates the turning radius of the vehicle again based on the corrected difference between the two rotational speed pulses, and calculates the turning angle of the vehicle based on the calculated turning radius. .
第１図（ｃ）の構成によれば、両輪速差センサ３によっ
て検出された左右両輪の回転速度パルスを、この両回転
速度パルスに基づき旋回半径演算手段5aが求めた旋回半
径と、車速検出手段11が検出した車速とに応じて補正手
段13によって補正し、旋回角度演算手段5bは、この補正
された両回転速度パルスの差に基づいて再度車両の旋回
半径を求めるとともに、この求めた旋回半径に基づいて
車両の旋回角度を演算する。According to the configuration of FIG. 1 (c), the rotational speed pulses of the left and right wheels detected by the two-wheel speed difference sensor 3 are detected by the turning radius calculation means 5a based on the rotational speed pulses, and the vehicle speed is detected. Corrected by the correction means 13 according to the vehicle speed detected by the means 11, the turning angle calculation means 5b again finds the turning radius of the vehicle based on the corrected difference between the two rotation speed pulses, and the found turning The turning angle of the vehicle is calculated based on the radius.
（実施例） 以下、この発明を実施例を図面に基づいて説明する。(Embodiment) Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
第２図はこの発明の一実施例を示すブロック図である。
地磁気式走行方位検出手段としての地磁気センサ１は、
例えばフラックスゲート型のもので、車両の絶対的走行
方位を検出するものである。両輪速差センサ３は、左右
両輪の回転速度に基づくパルス差速度を検出するもの
で、この回転速度パルス差の信号入力を受ける演算部５
は、車両の旋回半径及び、この旋回半径に基づく旋回角
度と、車両の速度とを演算する。このため、演算部５は
旋回半径演算手段と旋回角度演算手段とを含むことにな
る。両輪速差センサ３及び演算部５により車両の相対的
な走行方位を検出する両輪速差式走行方位検出手段６を
構成している。また、この両輪速差式走行方位検出手段
６は、車両の速度を検出する車速検出手段11を兼ねてい
る。このため、専用の車速センサを設ける必要がなく、
構成が簡素化される。FIG. 2 is a block diagram showing an embodiment of the present invention.
The geomagnetic sensor 1 as a geomagnetic traveling direction detecting means,
For example, it is of the flux gate type and detects the absolute traveling direction of the vehicle. The two-wheel speed difference sensor 3 detects a pulse difference speed based on the rotation speeds of the left and right wheels, and the arithmetic unit 5 receives a signal input of the rotation speed pulse difference.
Calculates the turning radius of the vehicle, the turning angle based on the turning radius, and the speed of the vehicle. Therefore, the calculation unit 5 includes the turning radius calculating means and the turning angle calculating means. The two-wheel speed difference sensor 3 and the calculation unit 5 constitute a two-wheel speed difference type traveling direction detecting means 6 for detecting the relative traveling direction of the vehicle. The two-wheel speed difference type traveling azimuth detecting means 6 also serves as a vehicle speed detecting means 11 for detecting the speed of the vehicle. Therefore, it is not necessary to provide a dedicated vehicle speed sensor,
The configuration is simplified.
距離センサ７は、車輪の回転量等に基づいて車両の走行
距離を検出し、所定の走行距離毎に走行方位検出手段と
しての車両位置演算部９にパルス信号を出力する。The distance sensor 7 detects the traveling distance of the vehicle based on the amount of rotation of the wheels and the like, and outputs a pulse signal to the vehicle position calculating unit 9 as the traveling direction detecting means for each predetermined traveling distance.
補正手段13に含まれる補正テーブル12には、あらかじめ
車速ｖと、左右両輪の回転速度に基づくパルス差に対応
する車両の旋回半径Ｒとによる旋回角度の前記パルス補
正値が記憶されている。この補正値Ｈは、旋回半径Ｒが
小さい程、また速度が高い程、大きな値となっている。
すなわち、旋回半径が小さく、かつ車速の速い、例えば
高速道路におけるインターチェンジのランプウエイなど
での旋回走行の際に、補正手段13は演算部５に対して旋
回角度を大きく補正すべく、前記パルス補正値Ｈを大き
なものとする。The correction table 12 included in the correction means 13 stores in advance the pulse correction value of the turning angle based on the vehicle speed v and the turning radius R of the vehicle corresponding to the pulse difference based on the rotational speeds of the left and right wheels. The correction value H has a larger value as the turning radius R is smaller and the speed is higher.
That is, when the vehicle has a small turning radius and a high vehicle speed, for example, when the vehicle is turning at an interchange rampway on a highway, the correction means 13 causes the calculation unit 5 to make a large correction of the turning angle. The value H is made large.
車両位置演算部９は、地磁気センサ１、演算部５及び距
離センサ７の信号入力に基づいて車両の絶対的な走行方
位及び走行位置を算出する。表示部15は、車両位置算出
部９によって算出された走行方位及び走行位置に基づい
てCRTあるいは液晶画面に車両の出発地点、目標地点、
走行軌跡及び現在位置等の情報を地図情報とともに表示
する。The vehicle position calculation unit 9 calculates the absolute traveling direction and traveling position of the vehicle based on the signal inputs of the geomagnetic sensor 1, the calculation unit 5, and the distance sensor 7. The display unit 15 displays the starting point, the target point of the vehicle on the CRT or the liquid crystal screen based on the traveling direction and the traveling position calculated by the vehicle position calculating unit 9.
Information such as the traveling locus and the current position is displayed together with map information.
次に、第３図及び第４図に示すフローチャートに基づ
き、この発明の制御動作を説明する。Next, the control operation of the present invention will be described based on the flowcharts shown in FIGS.
第３図は上記制御動作のメインフローを示している。ま
ず、両輪速差センサ３、地磁気センサ１及び距離センサ
７の各検出値に基づいて、車両の相対的な走行方位に相
当する旋回角度、車両の絶対的な走行方位及び走行距離
の各データを読み出し（ステップ301）、出力値を補正
した（ステップ303）後、現在の車両の方位及び位置を
推定する（ステップ305）。FIG. 3 shows a main flow of the above control operation. First, based on the respective detected values of the two-wheel speed difference sensor 3, the geomagnetic sensor 1, and the distance sensor 7, the turning angle corresponding to the relative traveling direction of the vehicle, the absolute traveling direction of the vehicle, and the traveling distance data are obtained. After reading (step 301) and correcting the output value (step 303), the current azimuth and position of the vehicle are estimated (step 305).
車両の方位の推定については第４図に示すフローチャー
トを基に説明する。まず、両輪速差センサ３により車両
の左右両輪の回転速度パルスをそれぞれ検出する（ステ
ップ401）。検出した両パルスから、車両速度ｖを演算
する（ステップ403）とともに、前記両パルスの差か
ら、車両の旋回半径Ｒを演算する（ステップ405）。そ
して、得られた車両速度ｖ及び旋回半径Ｒに基づき、次
のステップ407に示した補正テーブル13にて前記左右両
輪の回転速度パルスの補正値Ｈを求め、この補正値Ｈに
基づき回転速度パルスの補正を行う（ステップ409）。The estimation of the direction of the vehicle will be described based on the flowchart shown in FIG. First, the two-wheel speed difference sensor 3 detects the rotational speed pulses of the left and right wheels of the vehicle, respectively (step 401). The vehicle speed v is calculated from the detected both pulses (step 403), and the turning radius R of the vehicle is calculated from the difference between the both pulses (step 405). Then, based on the obtained vehicle speed v and the turning radius R, the correction value H of the rotation speed pulse of the left and right wheels is calculated in the correction table 13 shown in the next step 407, and the rotation speed pulse is calculated based on this correction value H. Is corrected (step 409).
上記補正された左右両輪の回転速度パルスから、演算部
５は車両の旋回半径Ｒ及び、旋回半径Ｒに基づく旋回角
度θＷを演算する（ステップ411）。一方、地磁気セン
サ１からは車両の絶対的走行方位が検出されており、こ
の検出値による前記旋回角度θＷの発生前後間での変位
角度θＭと、前記旋回角度θＷとを比較する（ステップ
413）。そして、この両角度がほぼ同じであれば車両の
走行方位θｃを両輪速差センサ３によるものとして（ス
テップ415）車両の位置を更新し（ステップ417）、第３
図のステップ309に進んで車両の位置等を地図情報と共
に表示部15に表示する。前記ステップ407の補正テーブ
ル12を用いた補正は、車両が走行する上で、旋回半径Ｒ
が小さい程、かつ車速ｖが速い程、補正値Ｈを大きくし
て旋回半径Ｒが小さくなるようにしている。一方、この
ような旋回半径Ｒが小さく、かつ車速ｖが速い走行状態
では、車両がスリップすることから、実際の旋回半径
は、両輪速差センサ３の検出値に基づく旋回半径より小
さくなる。このため、上記走行状態で、旋回半径Ｒが小
さくなるように両回転速度パルスを補正することで、旋
回角度θＷが正確なものとなり、車両の位置検出も極め
て正確なものとなる。From the corrected rotational speed pulses of the left and right wheels, the calculator 5 calculates the turning radius R of the vehicle and the turning angle θ W based on the turning radius R (step 411). On the other hand, the absolute traveling direction of the vehicle is detected from the geomagnetic sensor 1, and the displacement angle θ M before and after the generation of the turning angle θ W based on the detected value is compared with the turning angle θ W ( Step
413). If the two angles are substantially the same, the traveling direction θc of the vehicle is determined by the two-wheel speed difference sensor 3 (step 415) and the position of the vehicle is updated (step 417).
In step 309 of the figure, the position of the vehicle and the like are displayed on the display unit 15 together with the map information. The correction using the correction table 12 in step 407 is performed when the vehicle travels and the turning radius R is
Is smaller and the vehicle speed v is faster, the correction value H is increased to reduce the turning radius R. On the other hand, in a traveling state in which the turning radius R is small and the vehicle speed v is fast, the vehicle slips, so the actual turning radius becomes smaller than the turning radius based on the detection value of the two-wheel speed difference sensor 3. Therefore, by correcting both rotational speed pulses so that the turning radius R becomes small in the above running state, the turning angle θ W becomes accurate, and the position detection of the vehicle becomes extremely accurate.
前記ステップ413で両輪速差センサ３による旋回角度θ
ｗと地磁気センサ１による角度θＭとの差が大きいとき
には車体が着磁しているか否かが判断される（ステップ
419）。着磁している場合には第３図のステップ307に進
んで地磁気センサ１の誤差を補正する。着磁していない
場合には、車両の走行方位を地磁気センサ11によるもの
として（ステップ421）、車両位置を更新する（ステッ
プ417）。なお、前述した実施例では、補正手段13の補
正テーブル12における補正値Ｈは、車両の旋回半径Ｒと
車速ｖとの双方に関連したものとしてあるが、旋回半径
Ｒのみに関連したもの、または車速ｖにのみ関連したも
のとしてもよい。つまり、補正手段13は、車速ｖに関係
なく旋回半径Ｒが小さい程補正値Ｈを大きくして旋回半
径Ｒが小さくなるように両回転速度パルスを補正しても
よく、また旋回半径Ｒに関係なく車速ｖが速い程補正値
Ｈを大きくして旋回半径Ｒが小さくなるように両回転速
度パルスを補正してもよい。In step 413, the turning angle θ by the two-wheel speed difference sensor 3
When the difference between w and the angle θ M measured by the geomagnetic sensor 1 is large, it is determined whether or not the vehicle body is magnetized (step
419). If magnetized, the routine proceeds to step 307 in FIG. 3 to correct the error of the geomagnetic sensor 1. If the vehicle is not magnetized, the running direction of the vehicle is determined by the geomagnetic sensor 11 (step 421) and the vehicle position is updated (step 417). In the above-described embodiment, the correction value H in the correction table 12 of the correction means 13 is related to both the turning radius R of the vehicle and the vehicle speed v, but is related to only the turning radius R, or It may be related only to the vehicle speed v. That is, the correction means 13 may correct both rotational speed pulses so that the smaller the turning radius R is, the larger the correction value H is and the smaller the turning radius R is, regardless of the vehicle speed v. Alternatively, both rotational speed pulses may be corrected so that the correction value H is increased and the turning radius R is decreased as the vehicle speed v becomes faster.
以上説明してきたようにこの発明によれば、車速または
旋回半径もしくは、車速と旋回半径との双方に応じて、
左右両輪の回転速度パルスを補正して車両の旋回角度を
求めるようにし、特に車速が速い程、また旋回半径が小
さい程前記旋回角度が大きくなるように両回転速度パル
スを補正するようにしたので、車両が旋回する際に、ス
リップが発生しても、旋回角度は正確に求められ、車両
の相対的走行方位は極めて正確なものとなる。また、車
速は、両輪速差センサの検出値に基づいて算出している
ことから、専用の車速センサが不要であり、構成の簡素
化が達成できる。As described above, according to the present invention, according to the vehicle speed or the turning radius, or both the vehicle speed and the turning radius,
Since the turning angle of the vehicle is obtained by correcting the rotation speed pulses of the left and right wheels, the rotation speed pulse is corrected so that the turning angle becomes larger as the vehicle speed becomes faster and the turning radius becomes smaller. Even when a slip occurs when the vehicle turns, the turning angle is accurately obtained, and the relative traveling direction of the vehicle becomes extremely accurate. Moreover, since the vehicle speed is calculated based on the detection value of the two-wheel speed difference sensor, a dedicated vehicle speed sensor is not required, and the simplification of the configuration can be achieved.
第１図はこの発明のクレーム対応図、第２図はこの発明
の一実施例を示すブロック図、第３図はこの発明の一実
施例の動作を示すメインフローチャート、第４図は車両
の方位、位置を推定する動作を示すフローチャートであ
る。 ３……両輪速差センサ ５……演算部（旋回半径演算手段，旋回角度演算手段） 11……車速検出手段 13……補正手段1 is a block diagram showing the claims of the present invention, FIG. 2 is a block diagram showing an embodiment of the present invention, FIG. 3 is a main flowchart showing the operation of the embodiment of the present invention, and FIG. 3 is a flowchart showing an operation of estimating a position. 3 ... Two-wheel speed difference sensor 5 ... Calculation unit (turning radius calculation means, turning angle calculation means) 11 ... Vehicle speed detection means 13 ... Correction means
Claims (8)
速差センサと、車両の速度を検出する車速検出手段と、
該車速検出手段によって検出された車速に応じて前記両
回転速度パルスを補正する補正手段と、該補正手段によ
って補正された両回転速度パルスの差に基づいて車両の
旋回半径を求めるとともに、該旋回半径に基づいて車両
の旋回角度を演算する旋回角度演算手段とを有すること
を特徴とする車両用走行方位検出装置。1. A two-wheel speed difference sensor for detecting a rotational speed pulse of both left and right wheels, and a vehicle speed detecting means for detecting a vehicle speed,
A correction means for correcting the both rotation speed pulses according to the vehicle speed detected by the vehicle speed detection means, and a turning radius of the vehicle based on a difference between the both rotation speed pulses corrected by the correction means, and the turning A traveling direction detection device for a vehicle, comprising: a turning angle calculation means for calculating a turning angle of the vehicle based on a radius.
速が速い程、旋回半径を小さくするように補正すること
を特徴とする請求項１記載の車両用走行方位検出装置。2. The vehicular traveling azimuth detecting apparatus according to claim 1, wherein the correcting means corrects so that the turning radius becomes smaller as the vehicle speed detected by the vehicle speed detecting means becomes faster.
基づいて算出していることを特徴とする請求項１記載の
車両用走行方位検出装置。3. The vehicle traveling azimuth detecting device according to claim 1, wherein the vehicle speed is calculated based on a detection value of a two-wheel speed difference sensor.
速差センサと、該両輪速差センサによって検出された両
回転速度パルスの差に基づいて車両の旋回半径を演算す
る旋回半径演算手段と、該旋回半径演算手段によって演
算された旋回半径に応じて前記両回転速度パルスを補正
する補正手段と、該補正手段によって補正された両回転
速度パルスの差に基づいて再度車両の旋回半径を求める
とともに、該再度求めた旋回半径に基づいて車両の旋回
角度を演算する旋回角度演算手段とを有することを特徴
とする車両用走行方位検出装置。4. A two-wheel speed difference sensor for detecting a rotation speed pulse of both left and right wheels, and a turning radius calculation means for calculating a turning radius of a vehicle based on a difference between both rotation speed pulses detected by the two-wheel speed difference sensor. A correction means for correcting the two rotation speed pulses in accordance with the turning radius calculated by the turning radius calculation means, and a turning radius of the vehicle again based on the difference between the both rotation speed pulses corrected by the correction means In addition, the vehicle traveling azimuth detecting device is provided with a turning angle computing means for computing a turning angle of the vehicle based on the re-obtained turning radius.
た旋回半径が小さい程、旋回半径を小さくするように補
正することを特徴する請求項４記載の車両用走行方位検
出装置。5. The vehicle traveling azimuth detecting device according to claim 4, wherein the correction means makes a correction such that the smaller the turning radius calculated by the turning radius calculating means, the smaller the turning radius.
速差センサと、該両輪速差センサによって検出された両
回転速度パルスの差に基づいて車両の旋回半径を演算す
る旋回半径演算手段と、車両の速度を検出する車速検出
手段と、前記旋回半径演算手段によって演算された旋回
半径と前記車速検出手段によって検出された車速とに応
じて前記両回転速度パルスを補正する補正手段と、該補
正手段によって補正された両回転速度パルスの差に基づ
いて再度車両の旋回半径を求めるとともに、該再度求め
た旋回半径に基づいて車両の旋回角度を演算する旋回角
度演算手段とを有することを特徴とする車両用走行方位
検出装置。6. A two-wheel speed difference sensor for detecting a rotation speed pulse of both left and right wheels, and a turning radius calculation means for calculating a turning radius of a vehicle based on a difference between both rotation speed pulses detected by the two-wheel speed difference sensor. A vehicle speed detecting means for detecting the speed of the vehicle; a correcting means for correcting the both rotational speed pulses in accordance with the turning radius calculated by the turning radius calculating means and the vehicle speed detected by the vehicle speed detecting means; And a turning angle calculation means for calculating the turning radius of the vehicle again based on the difference between the two rotational speed pulses corrected by the correction means and calculating the turning angle of the vehicle based on the calculated turning radius again. A traveling direction detection device for a vehicle.
速が速い程、かつ旋回半径演算手段で演算された旋回半
径が小さい程、旋回半径を小さくするように補正するこ
とを特徴とする請求項６記載の車両用走行方位検出装
置。7. The correcting means corrects the turning radius to be smaller as the vehicle speed detected by the vehicle speed detecting means is faster and the turning radius calculated by the turning radius calculating means is smaller. The traveling direction detection device for a vehicle according to claim 6.
基づいて算出していることを特徴とする請求項７記載の
車両用走行方位検出装置。8. The vehicle traveling azimuth detecting device according to claim 7, wherein the vehicle speed is calculated based on a detection value of a two-wheel speed difference sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1135817A JPH0769181B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle direction detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1135817A JPH0769181B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle direction detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH032616A JPH032616A (en) | 1991-01-09 |
| JPH0769181B2 true JPH0769181B2 (en) | 1995-07-26 |
Family
ID=15160502
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1135817A Expired - Lifetime JPH0769181B2 (en) | 1989-05-31 | 1989-05-31 | Vehicle direction detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0769181B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101964059B1 (en) * | 2017-10-11 | 2019-04-01 | 재단법인대구경북과학기술원 | System for locating vehicle based on wheel speed sensor for guide system in indoor parking lot |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101670847B1 (en) * | 2014-04-04 | 2016-11-09 | 주식회사 와이즈오토모티브 | Apparatus and method for peripheral image generation of vehicle |
| DE102015108681A1 (en) * | 2015-06-02 | 2016-12-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method for stabilizing a tractor-trailer combination while driving |
-
1989
- 1989-05-31 JP JP1135817A patent/JPH0769181B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101964059B1 (en) * | 2017-10-11 | 2019-04-01 | 재단법인대구경북과학기술원 | System for locating vehicle based on wheel speed sensor for guide system in indoor parking lot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH032616A (en) | 1991-01-09 |
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