JPH09113268A - Device for detecting traveling location of vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a device for detecting traveling location of vehicle to accurately detect the present location of a vehicle even when the device reads a group of objects to be detected while the vehicle travels backward by detecting the advancing direction of the vehicle when arrangement pattern detecting operation is made and finding the deflection angle from a proper reading direction. SOLUTION: A ferrite detecting sensor 9 detects the magnetic pole arranging pattern of each ferrite 3 of a group 4 of objects to be inspected. When the sensor 9 detect the pattern, a distance sensor 8 is actuated and detects the traveling distance of its own vehicle from the group 4. A control section 10 reads the present location data and traveling distance of the vehicle from a GPS receiving section 11 and the sensor 8, respectively. The section 10 calculates the deflection angle between the traveling direction of the vehicle and the proper reading direction of the group 4 and, when the deflection angle is, for example, <=90 deg., the section 10 adopts the data of the group 4. Therefore, the occurrence of such a case that an erroneous present location is displayed by reading the group 4 from the opposite direction can be prevented. It is also possible to adopt the data of the group 4 in an inverted state when the deflection angle is >=90 deg..

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle traveling position detecting device.

[0002]

2. Description of the Related Art Conventionally, for example, golf courses are equipped with golf carts having a function of displaying a guide map of each hole for the convenience of athletes. It runs on the cart road at the end of the hole so as not to get in the way, and the GPS receiver receives the radio wave from the satellite to detect the running position of the own cart, and the guide map data for each hole stored in the storage unit LC based guide map
In addition to being displayed on the display portion such as D, the detected traveling position of the own cart is displayed on the guide map.

However, the above-mentioned method has a problem that the current position cannot be detected while traveling in an area where the radio waves from the satellite cannot be received due to the shade of trees.

As a method for solving this problem, ferrite (magnets) and the like are embedded in a cart path at regular intervals so as to form a predetermined array pattern, and a position correction mark encoded by the above array pattern is formed, and the correction mark is formed. Is detected by a correction code sensor to detect the traveling position of the own cart.

In this case, the position of the golf cart between the position correction marks is obtained by a method (map matching) in which the amount of movement detected by a traveling distance sensor such as a wheel rotation number sensor is moved according to the cart road data.

[0006]

However, in the conventional method of detecting the traveling position of the own cart based on the arrangement pattern of the ferrite etc. embedded in the cart road, the cart is backed to detect the ferrite etc. In that case, the arrangement pattern of the ferrite or the like is read in the opposite direction, which causes a problem of displaying an incorrect current position.

The present invention has been made in view of the above conventional problems, and it is an object of the present invention to provide a vehicle traveling position detecting device capable of accurately detecting the present position even when traveling in the opposite direction. There is.

[0008]

Means for Solving the Problems The first aspect of the present invention is shown in FIG.
As shown in 0, the arrangement pattern detection means 32 for detecting the arrangement pattern along the traveling direction of the detected object group 31 arranged at the predetermined position on the traveling path is provided, and the coordinate position corresponding to the detected arrangement pattern. In the vehicle traveling position detecting device having the vehicle position as the vehicle position, the traveling direction detecting means 33 for detecting the traveling direction of the vehicle at the time of the arrangement pattern detecting operation by the arrangement pattern detecting means 32, the detected traveling direction and each detected object. The shift angle calculating means 34 for obtaining the shift angle from the normal reading direction for each group 31, and the arrangement pattern detected by the arrangement pattern detecting means 32 only when the obtained shift angle is within a predetermined range are adopted. The arrangement pattern selecting means 35 for

According to a second aspect of the present invention, in the first aspect, when the deviation angle is out of a predetermined range, the coordinate position corresponding to the inverted pattern obtained by inverting the detected arrangement pattern is set as the current position. It is characterized by being configured.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION The embodiments of the present invention will be described below. 1 to 9 are views for explaining a traveling position detecting device for a golf cart according to an embodiment of the present invention. FIG. 1 is a block diagram of the golf cart, and FIG.
Is a diagram showing a display screen of the display device of the golf cart, FIG. 3 is a diagram schematically showing a ferrite buried in a traveling road (cart road), and FIG. 4 is a correction code and correspondence between coordinates and reading direction. FIG. 5 is a diagram for explaining the method of setting the reading direction, and FIGS. 6 to 9 are flowcharts for explaining the operation of the traveling position detecting device.

In the figure, reference numeral 1 is a golf cart running on a cart road 2, and a detected object group 4 composed of four ferrites 3 is embedded in a key portion of the cart road 2.

The golf cart 1 has a storage unit 5 including an IC card storing guide map data for each hole and table data shown in FIG. 4, and guide map data read from the storage unit 5. Based on a guide map of each hole, a display unit 6 including an LCD for displaying information such as the traveling position of the own cart, a distance sensor 8 for detecting a traveling distance from the number of rotations of a tire 7, and a polarity of the ferrite 3 are detected. The ferrite detection sensor 9 and the control unit (arrangement pattern detecting means, traveling direction detecting means, deviation angle calculating means, arrangement pattern selecting means) 10 for controlling each part, and the time signal radio wave from the GPS satellite are received, The GPS receiver 11 for detecting the current position (latitude, longitude) is provided. The ferrite detection sensor 9 and the detected object group 4 constitute a vehicle traveling position detection device 12. Reference numeral 13 denotes an antenna that receives signal radio waves from the GPS satellites.

As shown in FIG. 2, the display section 6 displays the guide map of the hall and the cart path 2 and the position of the own cart. Although the detected object groups 4 and 4'are embedded in the positions shown in FIG. 2, they are not displayed.

.. are arranged so that the four rod-shaped ferrites 3, 3 ... Are orthogonal to the course of the cart path 2 and the magnetic poles of each ferrite 3 are arranged in a predetermined pattern. It is buried.

Next, the operation of the traveling position detecting device will be described. First, the ferrite detection sensor 9 detects the arrangement pattern of the magnetic poles of the ferrites 3, 3, ... Of the object group 4. In this case, as shown in FIG. 3, data is set to 1 when the magnetic pole is N, and to 0 when the magnetic pole is S, and the array pattern is detected as "1010".

Then, the above data "1" is used as a correction code.
010 "is converted into a hexadecimal number, and the position coordinates corresponding to the correction code and the normal reading direction of each of the detected object groups 4 are detected from the correspondence table of FIG. The reading direction is hexadecimal in a clockwise direction from the north as shown in FIG. 5, for example, north = 00H, east = 40H, south = 80H, west =
It is set as COH.

When the magnetic pole is detected by the ferrite detecting sensor 9, the distance sensor 8 is started and the traveling distance from the detected object group 4 is detected.

Next, based on FIG. 6, the group of detected objects 4
The process of reading the correction code of is described. First, both the bit variable n and the correction code read flag RF are set to 0, and the detection value from the ferrite detection sensor 9 is read (steps S1 and S2).

When the correction code read flag RF is not 1, the detection signal of the ferrite detection sensor 9 is judged (step S4). If the magnetic pole of the ferrite 3 is N, the bit data b is set to b = 1 and the flag RF is set to 1 as shown in FIG. 3 (steps S5 and S6). If the magnetic pole is S, the bit data is set to b = 0 and the flag RF is set to 1 (steps S7 and S8), and the process proceeds to step S2.

In step S3, the flag RF is 1
In this case, the presence or absence of the detection signal and the bit data b are determined (step S9). If the detection signal is N or S and b does not change (step S
10) and shifts to step S2. If b is changed, it is determined that an error has occurred and the process proceeds to step S1.

If there is no detection signal in step S3, the data of the bit data b is set to the n-th bit string constituting the correction code (step S3).
11). Then, 1 is added to the n, and the flag RF
Is set to 0 (steps S12 and S13) until n becomes 4 (step S14).
The process moves to 2 and the above-mentioned correction code reading process is repeated.

When the variable n = 4 is detected (step S14), the position data (A) and the reading direction (C) corresponding to the correction code are read from FIG. 4 (step S).
At the same time, the position correction flag CF is set to 1 (step S16), and the above-mentioned correction code reading processing is repeated (step S17).

Next, the operation of detecting the current position will be described with reference to FIGS. The position correction flag CF is 1
If not (step T1), the current position data (G) is read from the GPS receiver 11 and the traveling distance data is read from the distance sensor 8 (steps T2 and T).
3).

When it is detected from the above data that the traveling distance is, for example, 2 m or more, the flag RF is set to 1 (steps T4 and T5). Then, the display unit 6
Map matching for the moving distance is performed on the guide map data of (step T6), and the position (S) detected by this self-contained navigation is stored (step T7). In addition,
When the traveling distance is less than 2 m in step T4, steps T5 to T7 are not performed and the process proceeds to the following process.

When the difference between the GPS data (G) and the self-contained navigation data (S) is, for example, larger than 10 m, the GPS data (G), and when the difference is smaller than 10 m, the self-contained navigation data (S) is Each is set to the current position (B) (steps T9 and T10).

After the current position is set, if the flag RF is 1 (step T11), the set current position (B) is set to Lm, and this m is m + 1.
Then, the RF is set to 0 (step T1).
2, T13).

When the above Lm exceeds L ₂₀ , the m
Is set to 0 (steps T14 and T15), and this position detection process is repeated (step T21). If RF is not 1 in step T11,
If the m is smaller than 20 in step T14, the process proceeds to step T21.

When the position correction flag CF is 1 in step T1, the flag CF is set to 0 (step T16). Then, the position Lm whose distance from the set current position (B) is closest to 10 m
Is searched from the above L _{0 to} L ₂₀ (step T1
7) Then, the traveling direction (D) of the vehicle is calculated from the positions B and Lm (step T18).

Then, a difference in angle between the traveling direction (D) and the reading direction (C) of the object group 4 is calculated, and when the difference is larger than 40 _H (90 °), the above step is performed. When it is 90 ° or less, the position data (A) corresponding to the correction code is set to the current position (step T20), and the process proceeds to step T2.
After shifting to 1, the position detection process is repeated.

If the angle difference is larger than 90 ° in step T19, as shown in FIG.
It is also possible to invert the bit data of the detected correction code (step T22) and read the position data corresponding to this inverted data (step T23) to obtain the current position. In this case, for example, the correct current position can be detected even when the object group 4 is read in the reverse direction.

As described above, the data of the detected object group 4 is adopted only when the deviation angle between the traveling direction of the vehicle and the normal reading direction of the detected object group 4 is 90 ° or less. , The object group 4 is read from the opposite direction,
It is possible to avoid displaying the wrong current position.

Further, when the deviation angle is larger than 90 °, the data of the detected object group 4 is inverted and the inverted pattern is adopted as the correction code. Even when the body group 4 is loaded,
The current position can be detected.

[0033]

As described above, according to the vehicle traveling position detecting device of the invention of claim 1, the deviation angle between the traveling direction of the vehicle and the normal reading direction of each detected object group is within a predetermined range. Only in the case, the coordinate position corresponding to the arrangement pattern of the detected object group is set as the vehicle position.
For example, it is possible to prevent the object group from being read in the reverse direction and displayed at the wrong current position.

Further, in the vehicle traveling position detecting apparatus according to the second aspect of the present invention, when the deviation angle is outside the predetermined range, the coordinate position corresponding to the reversal pattern obtained by reversing the detected arrangement pattern is set as the current position. Therefore, there is an effect that the correct current position can be detected when the detected object group is read in the reverse direction.

[Brief description of the drawings]

FIG. 1 is a block diagram of a vehicle including a traveling position detection device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a display screen of the display device of the vehicle.

FIG. 3 is a cross-sectional view schematically showing a traveling path in which ferrite is embedded.

FIG. 4 is a diagram showing correspondence between correction codes, position coordinates, and reading directions.

FIG. 5 is a diagram for explaining a setting direction of a reading direction.

FIG. 6 is a flow chart diagram for explaining the operation of the traveling position detection device.

FIG. 7 is a flowchart for explaining the operation of the traveling position detection device.

FIG. 8 is a flow chart for explaining the operation of the traveling position detection device.

FIG. 9 is a flow chart diagram for explaining the operation of the traveling position detection device.

FIG. 10 is a claim configuration diagram for explaining the scope of the claims of the present invention.

[Explanation of symbols]

 2 traveling path 12 traveling position detecting device 31 detected object group 32 arrangement pattern detecting means 33 traveling direction detecting means 34 deviation angle calculating means 35 arrangement pattern selecting means

Claims (2)

[Claims] 1. An arrangement pattern detecting means for detecting an arrangement pattern of a group of detected objects arranged at a predetermined position on a traveling road along a traveling direction, wherein a coordinate position corresponding to the detected arrangement pattern is set to a vehicle. In a traveling position detecting device for a vehicle, the traveling direction detecting means detects the traveling direction of the vehicle at the time of the arrangement pattern detecting operation by the arrangement pattern detecting means, the detected traveling direction and the normal for each detected object group. And a placement pattern selecting unit that adopts the placement pattern detected by the placement pattern detecting unit only when the obtained shift angle is within a predetermined range. A traveling position detecting device for a vehicle, comprising: 2. The structure according to claim 1, wherein when the deviation angle is out of a predetermined range, a coordinate position corresponding to an inverted pattern obtained by inverting the detected arrangement pattern is set as a current position. A traveling position detection device for a vehicle, comprising: