JPS6166921A - Run guiding device for vehicle - Google Patents

Abstract

PURPOSE:To improve the precision of direction data on a vehicle greatly and guide the vehicle accurately by detecting the run direction of the vehicle not only through a terrestrial magnetism sensor, but also from its steering angle, etc., and comparing both data with each other, and cancelling the output of the terrestrial magnetism sensor when the both are different greatly. CONSTITUTION:The run direction of the vehicle is detected by the terrestrial magnetism sensor 6, whose output is outputted to a CRT 20. Namely, the direc tion data on the vehicle which is detected by the sensor 6 and direction data based upon the steering angle, etc., of the vehicle which is detected by a direc tion variation quantity detection part 17 are compared by a comparison part 18 with each other. When the difference between the both is larger than a specific value, the data of the sensor 6 is canceled and only when the difference is smaller than the specific value, the current position of the vehicle is calculated on the basis of the direction data and displayed on the CRT 20. In this case, the difference between the direction data of the magnetism sensor 6 and that of the direction variation quantity means 17 is much less than before and the precision is improved.

Description

DETAILED DESCRIPTION OF THE INVENTION (Industrial Application Field) The present invention relates to a travel guidance device that guides a vehicle to a destination point using a display device installed inside the vehicle.
The actual running force of the vehicle is detected based on the earth's magnetic field [? This paper relates to measures to improve the accuracy of green detection data.

(Prior Art) Conventionally, this type of vehicle running induction device has been used to detect only the geomagnetic component in the X direction on the It is equipped with a geomagnetic sensor consisting of a combination of a detection element and an element that detects only the geomagnetic component in the Y direction, and by vector-wise combining the detected magnetic components in each of the X and Y directions, The geomagnetic direction at is output as an electrical direction detection signal, and every time the vehicle travels a distance of 111 degrees, the position displacement in the X and Y directions is calculated to determine the vehicle's current position, and the travel trajectory is displayed on the display. There is a known system that guides the vehicle to its destination.

(Problems to be Solved by the Invention) By the way, when a map is displayed on the display screen of the above-mentioned display device, a storage device for storing the map is required, and J: Type 6, which displays a map in the form of a fill 11 inserted into the display, requires a fixing device to fix the map, which makes the entire device larger. Second, there is a problem in that the display screen becomes rather complicated due to the ItjI diagram display, making it difficult to read the necessary information.

By the way, in general, the geomagnetic sensor that detects the running direction of the vehicle has a very weak I of 300 mG.
T! The driving direction of the vehicle is determined by detecting the magnetic field, and the earth's magnetic field [? There is a problem that a large magnetism may be detected in the sensor 11, and the detection accuracy of the sensor is low.

Therefore, for example, instead of a map, store A1/Visit markers such as place names in the storage device, input only the departure point and points within [1] from the stored position data in A, and display on the C display screen. In addition to displaying the travel trajectory between the above two points as the vehicle travels, the system also provides an easy-to-use display to guide the vehicle's travel. , In addition to the starting geothermal heat and the ``1'' points, only the current (1°!
-1- As stated above, if the tiliIff of the geomagnetic sensor is poor in the evening, it may be difficult to accurately guide the vehicle to the destination geothermal heat.

In order to improve the accuracy of the ffy data, conventionally, if the detection signal output from the geomagnetic sensor is significantly different from the previous detection signal, , the pre-different program in memory is set to 1 gram, and Riko's detection I9 is interpreted as 1 error and ignored.
This is dealt with through software processing. However, the permissible margin of error is usually set to a large value, for example, 4T error It is unavoidable that a wooden solution is inevitable.

The present invention has been made by paying close attention to the points listed in 1-1.
[1] The direction of the vehicle (j) is determined not only by the geomagnetic sensor but also by the vehicle's steering angle, etc. (b) is detected, and both data are compared. By canceling the output from the vehicle, it is possible to greatly improve the polishing of the vehicle's orientation data.

(Means for solving the problem) In order to achieve the object 2, the solution means of the present invention detects the running direction of the vehicle using a geomagnetic sensor 6, as shown in FIG. The earth's magnetic field shows the output of sensor 6 on display 20.
This is a traveling guidance device for a vehicle configured to output an output from the steering angle of the vehicle, etc., which detects a change in the direction of the vehicle, and includes an output from the geomagnetic sensor 6 and the change in direction. Comparing means 1B for comparing the output from the detecting means 17 and canceling the output from the geomagnetic sensor 6 when the output from the comparing means 18 is equal to or higher than a predetermined value (E), and canceling the output from the geomagnetic sensor 6 when it is within a predetermined value. The sensor 6 is configured to include a υ control means 19 for outputting the output from the sensor 6 to the display 20.

(Function) With the above configuration, in the present invention, the direction data of the vehicle detected by the geomagnetic sensor 6 and the steering angle of the vehicle detected by the suspension detection stage 17 are :t
The comparison means 18 compares the azimuth ' data to
When the difference between the two is greater than or equal to a predetermined value, the azimuth data from the geomagnetic lens 4J6 is treated as invalid data. and is displayed on the display 20. In this case, the difference between the azimuth data from the geomagnetic sensor 6 and the azimuth data from the azimuth change a detection means 17 can be determined to be much smaller than before, so it is necessary to Improvement is possible.

(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings from FIG. 2 onwards.

FIG. 2 shows the overall circuit configuration of the vehicle travel guidance system d according to the embodiment of the present invention, 1 is a place name and point data ROM, and the ROM 1 stores in advance, for example, a plurality of place names and points all over the country. The position of etc. is the X coordinate axis in the east-west direction and the Y coordinate axis in the period direction.
1 is stored in two-dimensional coordinates with coordinate axes.

Also, 2 is i! inside the car! 3 is a key matrix that encodes the output of the keyboard 2.
The output of the T connector 3 is connected to the L memory name white data ROM 1 via the i10 deep 4 and the system bus 5, and can be input to the ROMI by operating the keyboard 2. It is configured to search two place names etc. from a plurality of stored place names etc. and input them as the departure point S' and destination geothermal heat D' of the 111 cars respectively.

Further, 6 is the running direction OM of the vehicle with respect to a predetermined reference direction.
is a geomagnetic sensor that detects
After being amplified by the Δ/D converter 8, it is converted into a digital signal. In addition, 9 is used for example on the rotating transparent surface of the middle ring.
: Distance ll1l that detects the distance traveled by the vehicle,
Its output is connected to the I10 chip 10.

Further, 11 is a steering angle sensor that detects the steering angle θW of the steering wheel of the vehicle, and 12 is a steering angle sensor that receives the output from the sensor 11 (J
]/○ chip, and the output of the ■/○ chip 12 is 78. The output from the I10 chip 10 is connected to the main CPUs 13 and 7 via the system bus 5.
Each unit is connected to an arithmetic unit 16 consisting of a 1-gram ROM 14 and an RΔM 15.

The calculation section 16 includes a azimuth change amount detection section 17, a comparison section 18, and a control section 19. The steering angle θW of the steering wheel is detected by the steering angle sensor 11, and the steering angle θW and the wheel base WB of the vehicle are detected.
Change in direction of vehicle C based on FfJO= (l-xsin
Ovr ) /WB.

Further, the comparator 18 to which the output of the azimuth change amount detection unit 17 and the output signal of the geomagnetic sensor 6 are inputted is the output signal of the geomagnetic lens '+J6 ((/data, that is, the distance traveled by the vehicle is 1111L). The small change θF in the direction OH during driving and the direction ☆ change θ determined by the direction reduction amount detection unit 17
It is configured to compare the magnitudes of the values and obtain the deviation 10-θE1. Furthermore, the control unit 19 to which the output signal from the comparison unit 18 is inputted determines that the 1gi difference 1θ−/7E+ between the azimuth change fliOF by the geomagnetic sensor 6 and the azimuth change amount θ by the azimuth emptying detection unit 17 is determined by the azimuth change When the tolerance error is 60 or more, the output from the geomagnetic sensor 6 is canceled, and on the other hand, when the tolerance error is within the range of ○, the display screen 20a of the cathode ray tube 20 is displayed based on the output from the geomagnetic sensor 6. The vehicle is configured to display the traveling trajectory T of the vehicle.

Furthermore, the computing section 16 is connected to the cathode ray tube 20 via a display control device 24 consisting of a video display controller 21, a video RAM 22, and a CRT drive circuit 23, and this display control device W124 allows The driving trajectory T of the vehicle calculated by the calculation unit 1G is displayed on both display surfaces 20a of the cathode ray tube 20.

Next, the operation of the above embodiment will be explained with reference to FIGS. 3 to 5. FIG. 3 is a flowchart showing a procedure for calculating the distance between the current positions of the vehicle. In step S1 of star 1-11, distance 1III? A comparison is made to determine whether the vehicle has traveled a unit distance or not, and if the determination is No, the process returns to Star 1.

On the other hand 1. J
- In the case of YES, the process proceeds to step S2, where the steering angle θW of the vehicle is detected at the steering angle hint 1; l-11, and then, in step S3, the steering angle θW is detected.

Based on the traveling distance 1bItL and the wheelbase WB of the vehicle, r weight direction change ff10 = l-sinθw
/W B is determined, and in step S4, the geomagnetic sensor 2 detects the azimuth θ, and then the process proceeds to step S5, where the geomagnetic sensor 2 detects the difference between the currently detected azimuth 0 and the previous azimuth θM-1. Direction change part θε=θM-1-0
Ask for the mouth.

After that, in step S6, 1 is set in step S3 above.
The absolute value of the difference between the q-ranned medium thickness direction A☆change litθ and the orientation change portion OF obtained in step S4 is 1O−BEl,
Tolerance of azimuth change ω, which is set in advance in anticipation of vehicle η slip etc., whether or not it is larger than ¥i difference Δθ, and whether or not OF is within the allowable range of 01△0 in Fig. 4. This comparison judgment is 1θ-θ ``1≦80''.
In the case of Ill, the process proceeds to step S8 and the above (f/
After updating lil'1 of data θD to θN, the process advances to step S9. On the other hand, the determination at step S6 in -1 is 10.
−〇[1〉80〉If YES, step 87
Advance to lυ, ignore the OF orientation data by 1J, and
A comparison is made to determine whether or not the number of times N has reached a predetermined number of times No, and if this determination is YES (N=No), the direction change amount is The detection unit 17 (rudder angle sensor 11) determines the value of θ as an error, and executes the process in step S8 to use the value (0) from the geomagnetic sensor 6, and then executes the process in step S9.
Proceed to. - If the determination in step S7 is N<No,
In this case, the process directly advances to step S9 without performing the process of step S8.

Then, in step S9, the X-direction component ΔX = I-CO3θD and Y of the driver's movement from the azimuth data OD and the 111th place running/hitting part fill L obtained by each step S+"□Ss up to step S8 is calculated. Directional component ΔY=
l-sinOo is calculated, and then in step S+a,
Direction components X and J: and Y direction component
By tightening the x and Y direction components ΔY, find the current position P (X, Y) of the vehicle after traveling distance - 11 - and calculate its current position P (X, Y) as shown in Figure 5. After displaying on the display screen 20a of the cathode ray tube 20 as shown in FIG. 2, the series of υ1111 routines for guiding the vehicle to travel are completed.

Therefore, according to the embodiment described in -, the azimuth change Mθ detected based on the output of the steering angle sensor V11 determines whether the azimuth change θE of the vehicle obtained by 1η from the geomagnetic sensor 6 is correct change amount data. In other words, it is checked whether the change in the vehicle's direction due to M slip etc. is within the j1 volume error range, so the detection refinement when detecting the change in the vehicle's direction using the geomagnetic fin 1 groove is checked. It is possible to draw an accurate travel trajectory T of the vehicle on the display screen 20a of the cathode ray tube 20 and accurately guide the vehicle travel.

In the above embodiment, the amount of change in the vehicle's direction θ was determined from the steering wheel angle θW, but it may also be determined from the rotation difference between the two right wheels of the vehicle. That is, in unit time, the left middle wheel moves by LL, and the right middle wheel moves by LR.
1,-Rl/I-o, and even in that case, the same effect as in the above embodiment can be achieved.

Further, in the above embodiment, the present invention was applied to a system that does not display a map on the cathode ray tube 20, but the present invention can of course be applied to a normal system that displays a map on a display.

(Effects of the Invention) As mentioned above, according to the vehicle travel guidance device of the present invention,
The amount of change in the running direction of the vehicle is detected not only from the geomagnetic sensor but also from the vehicle's steering angle, etc., and the two are compared, and the heading data obtained from the geomagnetic sensor is compared to the heading data obtained from the steering angle, etc. If the tolerance exceeds the tolerance, the data sent to the geomagnetic sensor is canceled and only the orientation data within the tolerance is used for calculations to determine the vehicle's current position. Overall, the accumulation of orientation data from the geomagnetic sensor is greatly reduced. Therefore, by accurately displaying the current position of the vehicle on the display, more accurate driving guidance of the vehicle can be performed.

[Brief explanation of the drawing]

FIG. 1 is a block diagram without showing the groove structure of the present invention. Figures 2 to 5 show an embodiment of the present invention, with Figure 2 being an overall configuration diagram, Figure 3 being a control flowchart, Figure 4 being a schematic diagram showing the running direction of the vehicle, and Figure 5 being a schematic diagram showing the running direction of the vehicle. FIG. 2 is an explanatory diagram showing a traveling trajectory of a vehicle displayed on a display screen of a cathode ray tube. 6... Geomagnetic sensor, 11... Rudder angle sensor, 16.
...Pupillary calculation section, 17...Direction blowing amount detection means, 18...
Comparison means, 19... Control means, 20... Braun tube, 20a... Display screen. Figure 3 Start j J line distance 7 NO 1 Firefly town corner (e, )/) Phase out 26 = LS old θυ B's fortune ↑ Dead stone consignment Yopu 5fiil multiplied θE-”+ Possible -, -'E!+ +e-eE+>ΔON. OL7 Convex, ^ JP-A-Sho G1-66921 (6) Figure 4 Figure 5

Claims (1)

[Claims] (1) A vehicle travel guidance device that detects the vehicle's traveling direction using a geomagnetic sensor and outputs the output of the geomagnetic sensor to a display, which detects changes in the vehicle's direction from the vehicle's steering angle, etc. azimuth change amount detection means for comparing the output from the geomagnetic sensor with the output from the azimuth change detection means; A driving guidance device for a vehicle, comprising: control means for canceling the output and causing the output from the geomagnetic sensor to be output to a display device when the output is within a predetermined value.