KR20120037742A - Position correction system for vehicle - Google Patents

Position correction system for vehicle Download PDF

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Publication number
KR20120037742A
KR20120037742A KR1020100099385A KR20100099385A KR20120037742A KR 20120037742 A KR20120037742 A KR 20120037742A KR 1020100099385 A KR1020100099385 A KR 1020100099385A KR 20100099385 A KR20100099385 A KR 20100099385A KR 20120037742 A KR20120037742 A KR 20120037742A
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KR
South Korea
Prior art keywords
vehicle
gps
value
microcomputer
host module
Prior art date
Application number
KR1020100099385A
Other languages
Korean (ko)
Inventor
임상언
Original Assignee
현대모비스 주식회사
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Publication date
Application filed by 현대모비스 주식회사 filed Critical 현대모비스 주식회사
Priority to KR1020100099385A priority Critical patent/KR20120037742A/en
Publication of KR20120037742A publication Critical patent/KR20120037742A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/26—Acquisition or tracking or demodulation of signals transmitted by the system involving a sensor measurement for aiding acquisition or tracking
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/31—Acquisition or tracking of other signals for positioning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Navigation (AREA)

Abstract

The present invention relates to a position correction system of a vehicle, comprising: a microcomputer (u-COM) that receives an angle value of the vehicle and a vehicle speed value from the inside of the vehicle through a CAN bus line, and the vehicle received from the microcomputer And a GPS host module configured to correct location information including longitude coordinates and latitude coordinates received through a GPS receiver based on an angle value of the vehicle and a speed value of the vehicle.

Description

Position correction system of vehicle {POSITION CORRECTION SYSTEM FOR VEHICLE}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position correction system of a vehicle, and more particularly to a position correction system of a vehicle that corrects an error that may occur when positioning the vehicle from a satellite or a sensor installed in the vehicle.

Recently, a vehicle is provided with a satellite positioning system (GPS) for checking a vehicle's driving speed, driving distance, and position information when the vehicle is driven.

GPS makes it easy for the driver to display the location coordinates of the vehicle on a map displayed on a display module such as an LCD through location information received by the vehicle from four or more orbital satellites, thereby facilitating the desired destination and the direction to go to the destination. I can confirm it.

Conventional GPS is a GPS antenna for receiving the position information of the vehicle from the satellite, a GPS receiver for calculating the position coordinates of the vehicle on the basis of the position information of the vehicle received through the GPS antenna, and calculated by the GPS receiver A position detection unit that performs map matching so that the displayed position coordinates are displayed on a road that can be driven on a map, and the position coordinates displayed on the map and the map after the map matching of the position detection unit 30 are displayed to the outside. It is composed of a display unit that allows the driver to easily check the position of the vehicle.

However, the conventional GPS is difficult to receive accurate position information of the vehicle from the satellite when the vehicle is driving in a dense area of a high-rise building where the interference of the tunnel or signal is severe. Even if the location information is received, since the location information having a large error value is received, it often fails to perform the proper function of the GPS. Recently, in order to correct an error of the location information, a GPS has been developed in which a gyro sensor is additionally designed inside the GPS to correct an error of the location information received from the satellite.

However, since these gyro sensors are quite expensive sensors, they cost a great deal to implement the function of GPS.

In addition, since the gyro sensor outputs the sensed signal as an analog type value, additional design of an AD converter that converts the analog value to the digital value is required to interwork with other electronic components composed of digital circuits. However, the AD converters are also expensive ICs, which can be a significant cost for the vehicle's GPS function.

In addition, the gyro sensor should be horizontal to the ground due to its characteristics, and when the gyro sensor having such characteristics is installed in a vehicle, there is a limitation in the mounting position.

In addition, in implementing the function of the GPS, the GPS module must receive the speed signal of the vehicle, the speed signal is transmitted through a single wire (hard wire). In this process, there is a problem of receiving an incorrect speed signal according to the inflow of vehicle interface noise and OPEN / SHORT of a transmission line.

Accordingly, an object of the present invention is to provide a vehicle position correction system for correcting an error of position information obtained by a GPS system of a vehicle without a gyro sensor and an AD converter.

In order to achieve the above object, the position correction system of the vehicle, from the microcomputer (u-COM) and the microcomputer to receive the angle value of the vehicle and the speed value of the vehicle from the inside of the vehicle via a CAN bus line (BUS Line) And a GPS host module for correcting location information including a longitude coordinate and a latitude coordinate received from a GPS receiver based on the received angle value of the vehicle and the speed value of the vehicle.

Here, the microcomputer receives the vehicle speed pulse generated in the vehicle through the CAN bus line and transmits the speed pulse to the GPS host module.

The microcomputer receives the corrected position information from the GPS host module through a UART communication line and transmits the corrected position information to the inside of the vehicle.

In addition, the microcomputer receives the angle value of the vehicle from a steering wheel angle sensor through the CAN bus line, and obtains the speed value of the vehicle from a wheel speed sensor. It is characterized by receiving.

The GPS module receives the position information last received before the vehicle enters the shaded area through the GPS receiver and generates the shaded area based on the angle value of the vehicle and the speed value of the vehicle. It is characterized in that for correcting the error of the position information.

According to the present invention, by eliminating the design of the existing designed gyro sensor and the AD converter, in installing the vehicle position correction system in the vehicle, the installation position is not restricted.

In addition, by eliminating the design of expensive gyro sensors and AD converters, product cost can be reduced.

In addition, by eliminating a dedicated wire for transmitting the speed signal of the vehicle to correct the position information, the problem of receiving the inaccurate speed signal according to the inflow of vehicle interface noise and the OPEN / SHORT of the dedicated line can be solved. .

1 is an overall block diagram showing a position correction system of a vehicle according to an embodiment of the present invention.
2 is a view for showing a distinct difference between the position correction system of the existing vehicle and the position correction system of the vehicle according to an embodiment of the present invention.

The present invention discloses a method for excluding a design of a gyro sensor and an AD converter when implementing a vehicle position correction system.

In order to exclude the existing design of the gyro sensor and the AD converter, an apparatus for detecting the angle of the vehicle that can replace the gyro sensor is required. Accordingly, in the present invention, a steering wheel angle sensor (SWAS) provided in the vehicle is used. These steering wheel angle sensors are essential for vehicle safety aids such as ABS / ESC / TCS.

In addition, in the present invention, the steering wheel angle sensor is connected to CAN, a vehicle communication network, to periodically output a vehicle running angle value.

Therefore, in the vehicle position correction system of the present invention, a separate vehicle angle detection device such as a gyro sensor is not required. That is, since the device is already used in the vehicle, no additional cost is required for a separate hardware configuration.

As will be described below, in the present invention, a microcomputer (u-com or CPU) is provided, converts the vehicle angle information received from the CAN network into a signal recognizable by the GPS host module, and converts the converted vehicle angle information into the GPS host module. send. At this time, the vehicle angle information is transmitted to the GPS host module using a serial communication scheme such as SPI communication.

In addition, in the present invention, unlike the GPS host module is configured as a separate signal line (or dedicated line) to receive speed information such as a speed pulse signal, the GPS host module is designed to be transmitted through a CAN bus line. The error of speed signal due to OPEN / SHORT can be minimized.

Meanwhile, the speed pulse signal may be transmitted in a separate form required by the GPS host module. For example, the speed pulse signal may use serial communication such as SPI communication, such as a method in which the GPS host module is transmitted from a microcomputer.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a satellite assistance system of a vehicle according to an embodiment of the present invention.

1, the satellite assistance system 100 of a vehicle according to an embodiment of the present invention includes a GPS host module 120, a microcomputer 130, and a CAN bus line 140, and includes a GPS receiver ( 110 may further include a steering wheel angle sensor 150 (SWAS) and a wheel speed sensor 160 (WSS).

The GPS receiver 110 receives position information including a longitude coordinate value and a latitude coordinate value of the vehicle from a satellite through a GPS antenna ANT in the form of an RF signal. The GPS receiver 110 converts the location information received in the form of an RF signal into data that can be processed by the GPS host module. For example, the GPS receiver 110 may convert the received location information into a digital signal and transmit the converted signal to the GPS host module 120. At this time, the position information in the form of the RF signal received through the GPS antenna (ANT) has an error value due to noise and low reception strength (RSS) in a shaded area such as an underground tunnel or a multipass area having many skyscrapers. . The GPS host module 120 is provided to compensate for the error value, and the GPS receiver 110 transmits the last received location information to the GPS host module 120 before entering the shadow area or the multi-pass area. do. Thereafter, the GPS host module 120 does not use an angle detection sensor such as a gyro sensor, and compensates the position information having an error value that may occur in the shadowed area or the multi-pass area based on the last received position information. Or calibrate).

The GPS host module 120 calculates the speed value of the vehicle and the angle value of the vehicle from the last position information received through the GPS receiver 110 and the sensors already installed inside the vehicle, not the angle measurement sensor such as the gyro sensor. The vehicle's speed value and its angle value are used for DR (dead reckoning) in the GPS shadow area. The sensors already installed in the vehicle include a steering wheel angle sensor 150 (STE) and a wheel speed sensor 160 (WSS).

The steering wheel angle sensor 150 detects an angle of the vehicle steering wheel and outputs the angle as the angle value of the vehicle. The sensor 150 is a sensor that is essentially designed inside the vehicle due to a device such as ABS / ESC / TCS of the vehicle.

The wheel speed sensor 160 detects a vehicle speed and outputs the speed value of the vehicle. This sensor 160 is also a sensor designed essentially inside the vehicle due to a device such as ABS / ESC / TCS of the vehicle.

As described above, the angle value of the vehicle, which is obtained from the gyro sensor, is obtained from the steering wheel angle sensor 150 and the wheel speed sensor 160 installed in the vehicle, and the angle value of the vehicle is corrected. By substituting each of the velocity values, it is possible to exclude expensive gyro sensor designs for implementing functions such as GPS position correction. For this reason, manufacturing cost can be reduced.

Meanwhile, the steering wheel angle sensor 150 and the wheel speed sensor 160 are connected by a CAN network method in a vehicle. Thus, in one embodiment of the present invention, the GPS host module 120 is the angle value of the vehicle and the wheel speed sensor 160 from the steering wheel angle sensor 150 in this CAN network method without changing the existing CAN network method. The position information is corrected by receiving the speed value from the vehicle.

To this end, in the vehicle position correction system of the present invention, a microcomputer 130 (u-COM) is provided as a controller IC for CAN communication. The microcomputer 130 controls the overall operation of the GPS host module 120, and also the vehicle angle value and the wheel speed sensor 160 from the steering wheel angle sensor 150 transmitted through the CAN bus line 140. Performs an interface function for transmitting the speed value of the vehicle from the vehicle to the GPS host module 120. Here, the microcomputer 130 transmits the angle value of the vehicle and the speed value of the vehicle transmitted through the CAN bus line 140 to the GPS host module 120 in a serial communication method such as SPI. In addition, although not shown in FIG. 1, the microcomputer 130 may not only output the speed value of the vehicle and the angle of the vehicle, but also the speed pulse signal SP generated inside the vehicle required by the GPS host module 120. Received through the transmission may be transmitted to the GPS host module 120. As a result, the GPS host module 120 does not receive the speed pulse signal through a dedicated line such as a conventional hard wire, which is heavily affected by noise, and receives the speed pulse signal through a CAN bus line, thereby reducing vehicle interface noise. It is possible to solve the problem of receiving an incorrect speed signal due to inflow and OPEN / SHORT of the hard wire.

As shown in FIG. 2, in the vehicle position correction system 100 according to the present exemplary embodiment, the GPS host module 120 receives an angle value of a digitally converted vehicle through a gyro sensor and an AD converter. Alternatively, as shown in FIG. 1, through the CAN bus line 140, the angle value of the vehicle is transmitted from the sensors already installed in the vehicle, and the position information of the GPS is corrected.

Therefore, when designing the GPS position correction system of the vehicle, it is possible to reduce the cost by eliminating the design of the expensive AD converter and the gyro sensor, and to install the system position correction system due to the vehicle installation characteristics of the gyro sensor that must be precisely leveled. Can be free from position constraints.

In the above, the present invention has been described in detail with reference to preferred embodiments, but those skilled in the art may make various modifications and changes that fall within the scope of the present invention based on the matters disclosed herein. Could be. Therefore, the protection scope of the present invention will be defined by the description of the claims below.

Claims (5)

A microcomputer (u-COM) for receiving an angle value of the vehicle and a speed value of the vehicle from the inside of the vehicle through a CAN bus line; And
GPS host module for correcting location information including longitude coordinates and latitude coordinates received through a GPS receiver based on the angle value of the vehicle and the speed value of the vehicle received from the microcomputer
Position correction system of a vehicle comprising a.
The method of claim 1, wherein the microcomputer
And a vehicle speed pulse generated in the vehicle through the CAN bus line and transmitted to the GPS host module.
The method of claim 1, wherein the microcomputer
Receiving the corrected position information from the GPS host module through a UART communication line and transmitting the inside of the vehicle.
The method of claim 1, wherein the GPS host module,
The position information last received before the vehicle enters the shaded area is received through the GPS receiver, and the position information generated in the shaded area is based on the angle value of the vehicle and the speed value of the vehicle. The position correction system of the vehicle to correct the error.
The method of claim 1, wherein the microcomputer
Receiving an angle value of the vehicle from a steering wheel angle sensor via the CAN bus line (BUS Line), and a vehicle speed value of the vehicle from a wheel speed sensor (Wheel Speed Sensor) Position correction system.
KR1020100099385A 2010-10-12 2010-10-12 Position correction system for vehicle KR20120037742A (en)

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KR1020100099385A KR20120037742A (en) 2010-10-12 2010-10-12 Position correction system for vehicle

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Application Number Priority Date Filing Date Title
KR1020100099385A KR20120037742A (en) 2010-10-12 2010-10-12 Position correction system for vehicle

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101470103B1 (en) * 2012-12-26 2014-12-05 현대자동차주식회사 Method and system for location estimate information
KR20170014026A (en) * 2015-07-27 2017-02-08 현대자동차주식회사 Vehicle, and control method for the same

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101470103B1 (en) * 2012-12-26 2014-12-05 현대자동차주식회사 Method and system for location estimate information
KR20170014026A (en) * 2015-07-27 2017-02-08 현대자동차주식회사 Vehicle, and control method for the same

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