WO2007083463A1

WO2007083463A1 - Navigation device and sensor utilization/processing method

Info

Publication number: WO2007083463A1
Application number: PCT/JP2006/324804
Authority: WO
Inventors: Satoru Suzuki
Original assignee: Pioneer Corporation
Priority date: 2006-01-18
Filing date: 2006-12-13
Publication date: 2007-07-26

Abstract

When a drive command is issued, a drive control section (112) detects the drive command. The drive control section (112) performs drive control and sends to a sensor output processing section (113) the following notices: a notice of directly before the start of drive, a notice of directly after the completion of the drive, and a notice of the completion of the drive. Upon receiving the notices, the sensor output processing section (113) processes the result of sensor outputs that vary depending on drive. The processing is made during a period directly after the start of the drive, a period in the middle of the drive, and a period directly before the completion of the drive while referring to sensor utilization information and, when necessary, correction information. A variation in outputs of a sensor mounted in a navigation device can be appropriately processed.

Description

Specification

Navigation device and sensor utilization processing method

Technical field

The present invention relates to a navigation device and a sensor utilization processing method that can be used in the navigation device.

Background art

Conventionally, navigation devices that are mounted on a moving body such as a vehicle and provide navigation information such as map information of a moving route have been widely used. In such a navigation device, in addition to the results of positioning of the current position using a GPS (Global Positioning System) satellite (hereinafter referred to as “GPS positioning”), the measurement results of sensors such as the velocity, acceleration, and angular velocity of the moving object are obtained. And get to detect the moving status of moving objects!

[0003] Among the sensors such as the speed, acceleration, and angular velocity of the moving body that is applied, when the vehicle speed sensor detects a pulse signal output by the rotation of the axle or wheel, the output of the vehicle speed sensor Things that fluctuate due to the progress of, etc. will not occur. However, in the case of a sensor that autonomously performs measurement alone, such as an acceleration sensor or an angular velocity sensor, the output of the sensor generally fluctuates with the passage of time, temperature change, and the like.

[0004] In order to deal with sensor output fluctuations in such a navigation device, a technique for updating the output offset value and gain value indicating the output characteristics of the sensor has been proposed (see Patent Document 1; Example ”). In the conventional technique, the output offset value of the acceleration sensor is updated based on the GPS positioning result in a state where the moving body is stopped or moving at a constant speed and the average value of the output value of the acceleration sensor. I have to. Further, the gain value of the acceleration sensor is updated based on the GPS positioning result in the uniform acceleration state of the moving body and the change mode of the output value of the acceleration sensor.

Patent Document 1: Japanese Patent Laid-Open No. 10-307032

Disclosure of the invention

Problems to be solved by the invention

[0006] The technology of the conventional example described above has a relatively slow output characteristic of the sensor over a long period. Sufficient measures can be taken against the situation that changes. However, the cause of sensor output fluctuations is not limited to the passage of time or temperature, and changes in supply voltage values due to changes in power consumption can also cause sensor fluctuations.

[0007] By the way, in recent navigation devices, there is a type in which a display device is stored in the device during a period when the navigation device is not used, from the viewpoint of the recent demand for space saving and the usability. ing. In such a type of navigation device, the display device is mechanically driven in response to a command by the user pressing the operation button (or operation key) to use the function of the navigation device, and from the inside of the device. What is taken out is common.

[0008] A drive system including a motor is used for mechanical drive of a powerful display device. A large change in the amount of current occurs at the start and end points of force motor drive. For this reason, at the start and end of motor driving, the supply voltage value changes with the change in power consumption, and the output of the sensor fluctuates in a short period. In addition, during the motor drive, the acceleration and angular velocity associated with the motor drive are generated in the navigation device in addition to the acceleration and angular velocity of the moving body. The sensor output fluctuation in such a short period cannot be dealt with by the conventional technology. One of the problems to be solved by the present invention is to cope with sensor output fluctuations that occur in such a short period of time.

[0009] The present invention has been made in view of the above circumstances, and an object thereof is to provide a navigation device and a sensor utilization processing method capable of coping with a predetermined short-term sensor output fluctuation. To do.

Means for solving the problem

[0010] According to a first aspect of the present invention, a navigation device is provided with a sensor and performs navigation processing using output information of the sensor, and detects that a predetermined command input has been performed. An input detecting means; performing a process for using the output information of the sensor according to a predetermined usage mode in a response operation period in which the navigation device operates in response to the predetermined command input And a sensor output processing means. [0011] According to a second aspect of the present invention, there is provided a sensor utilization processing method in a navigation apparatus in which a sensor is mounted and navigation processing is performed using output information of the sensor, and a predetermined command input is performed. An input detecting step for detecting the fact that; in a response operation period in which the navigation operates in response to the predetermined command input, the output information of the sensor is used in accordance with a predetermined usage mode And a sensor output use processing step for performing processing.

[0012] According to a third aspect of the present invention, there is provided a sensor output utilization processing program characterized by causing a calculation means of a navigation device to execute the sensor output utilization processing method of the present invention.

[0013] According to a fourth aspect of the present invention, there is recorded a sensor output utilization processing program, characterized in that the sensor output utilization processing program of the present invention is recorded so as to be readable by the arithmetic means of the navigation device. Recording medium.

Brief Description of Drawings

FIG. 1 is a block diagram schematically showing a configuration of a navigation device according to an embodiment of the present invention.

FIG. 2A is a diagram for explaining the external appearance of the display device of FIG. 1 in a state where it is housed in a chassis.

FIG. 2B is a diagram for explaining the appearance of the state in which the display device in FIG. 1 is being taken out from the chassis, or the state in which the display device is being housed in the chassis.

FIG. 2C is a diagram for explaining the external appearance of the display device of FIG. 1 in a state where it is removed from the chassis.

FIG. 3A is a diagram for explaining that sensor output usage information in FIG. 1 is acceleration sensor usage information and angular velocity sensor usage information.

FIG. 3B is a diagram for explaining the contents of sensor output use information in FIG. 1.

FIG. 3C is a diagram for explaining the contents of the sensor output use information of FIG.

FIG. 4 is a diagram for explaining the content of correction information in FIG. 1.

[FIG. 5] Explains the sensor utilization process when the display device is driven to be taken out by the apparatus of FIG. FIG.

6 is a sequence diagram for explaining sensor utilization processing when the display device is housed and driven by the apparatus of FIG. 1. FIG.

BEST MODE FOR CARRYING OUT THE INVENTION

First, an embodiment of the present invention will be described with reference to FIGS. In the present embodiment, a navigation device that performs navigation related to travel as a movement of a vehicle or the like that is a moving body will be described as an example.

[0016] [Configuration]

FIG. 1 is a block diagram showing a schematic configuration of a navigation device 100 as a vehicle state detection device according to the present embodiment. As shown in FIG. 1, the navigation device 100 includes a control unit 110 and a storage device 120 such as a hard disk device.

The navigation apparatus 100 includes a display unit 130, a sound output unit 140, and an operation input unit 150. Furthermore, the navigation apparatus 100 includes a GPS (Global Positioning System) receiving unit 160, a travel sensor unit 170, and a display device drive system 180.

Note that the elements 120 to 180 other than the control unit 110 are connected to the control unit 110.

[0019] The control unit 110 performs overall control of the entire navigation device 100, and performs navigation processing, sensor output utilization processing, and the like. The control unit 110 includes a navigation processing unit 111, a drive control unit 112 as a predetermined command input detection unit, and a sensor output processing unit 113 as a sensor output processing unit.

[0020] The navigation processing unit 111 provides navigation information to the user by using the above-described components 130 to 170 while accessing the storage device 120. In other words, it corresponds to the command input result from the operation input unit 150 related to navigation processing, the positioning result in the GPS receiving unit 160, and the detection result from the traveling sensor unit 170 via the sensor output processing unit 113. Then, the navigation processing unit 111 appropriately reads the navigation data stored in the storage device 120. And the navigation processing part 111 shows (a) a map display in which a map of the area specified by the user is displayed on the display device 131 of the display unit 130, and (b) where the vehicle is currently located on the map, and in which direction Map matching that is displayed on the display device 131 of the display unit 130 and communicated to the user, and (c) the recommended route from the position where the vehicle currently exists to any position specified by the user is calculated. (D) When driving to a destination along a set route, in order to accurately advise the direction to travel, a guidance display is displayed on the display device 131 of the display unit 130, Route guidance that outputs voice guidance from the sound output unit 140 is performed.

The drive control unit 112 described above responds to a drive command for the display device 131 from the operation input unit 150 and controls a display device drive system 180 described later to drive the display device 131. The driving commands to be applied include a take-out command for the display device 131 and a storage command for the display device 131. The driving force of the display device 131 is shown in FIG. Here, FIG. 2A shows the external appearance of the display device 131 stored in the chassis 190. FIG. 2B shows the appearance of the display device 131 being taken out from the chassis 190 or the display device 131 being housed in the chassis 190. Also, FIG. 2C shows the appearance of the display device 131 being removed from the chassis 190!

[0022] In the state shown in FIG. 2A, when a command for taking out the display device 131 is issued from the operation input unit 150, the drive control unit 112 controls the display device drive system 180 and goes through the state shown in FIG. 2B. Then, the display device 131 is driven so as to reach the state of FIG. 2C. On the other hand, when a storage command for the display device 131 is issued from the operation input unit 150 in the state shown in FIG. 2C, the drive control unit 112 controls the display device drive system 180 via the state shown in FIG. 2B. The display device 131 is driven to reach the state of FIG. 2A.

[0023] When the drive control unit 112 receives an instruction to take out the display device 131 from the operation input unit 150, the drive control unit 112 notifies the sensor output processing unit 113 of a notification immediately before the start of driving, prior to the start of driving. Then, immediately before the end of the take-out drive of the display device 131, a notification immediately before the end of take-out is sent to the sensor output processing unit 113.

In addition, the drive control unit 112 receives the storage finger of the display device 131 from the operation input unit 150. When the command is received, prior to the start of driving, a notification immediately before the start of storage is sent to the sensor output processing unit 113. Then, immediately before the storage drive of the display device 131 ends, a notification immediately before the end of storage is sent to the sensor output processing unit 113.

Returning to FIG. 1, the sensor output processing unit 113 processes the detection result output from the travel sensor unit 170 and notifies the navigation processing unit 111 of the detection result. When processing the detection result output from the powerful travel sensor unit 1 70, the sensor output processing unit 113 displays the notification content from the drive control unit 112 and sensor output usage information 121 in the storage device 120 described later. And correction information 122 is referred to.

The storage device 120 stores sensor output usage information 121, necessary correction information 122, and the like in addition to navigation information such as map information. The control unit 110 can access the storage area of the storage device 120, and can write data into the storage area and read data from the storage area.

[0027] The sensor output usage information 121 includes acceleration sensor usage information 126 as shown in FIG. 3A.

1 and angular velocity sensor usage information 126. This information 126, 126 (

2 1 2 Below, also referred to as “Information 126 (j = l, 2)”), the acceleration sensor 172 and angular velocity sensor 173

J

If the output is used as it is, it is used processing information during driving of the display device 131 that may not be used for navigation processing.

[0028] Each of information 126 (j = l, 2) is processed information immediately after the start of extraction, as shown in Fig. 3B.

J

Information 127, processing information 127 during extraction, processing information 127 immediately before the end of extraction, and storage start

] 1] 2 j3 Immediate processing information 127, in-storage processing information 127, immediately before storage end processing information 127 (n j5 j6 and below, also referred to as “information 127 (j = l, 2; k = l to 6)” ). 3 jk like this

The processing information is defined for each period of time because the current flowing through the display device drive system increases immediately after the start of driving and immediately before the end of driving, and the mechanical force associated with the driving of the display device acts on the navigation device 100. It is because there is a high possibility of doing.

[0029] Each of the information 127 (j = l, 2; k = l to 6) corresponds to the usage processing type jk as shown in Fig. 3C.

It consists of different information and a correction information pattern identifier. Here, depending on the usage process type information, the output of the acceleration sensor 172 or the angular velocity sensor 173 can be (i) used as it is (uncorrected usage), (ii) used after correction, and (iii) ignored. It is specified. In addition, The correction information pattern to be used for correction is specified by the correct information pattern identifier when “use with correction” is specified in the usage process type information.

It should be noted that the content of the usage process type information is determined based on prior experiments regarding output fluctuations of the acceleration sensor 172 and the angular velocity sensor 173 accompanying the driving of the display device 131.

[0031] As the correction information 122, for example, correction waveform information can be employed. As shown in FIG. 4, the correction information 122 is composed of correction information patterns # 1. # 2,. The correction information patterns # 1, # 2,... Correspond to the above correction information patterns on a one-to-one basis. Note that. The number of correction information patterns is the same as the number of information 127 for which “use with correction” is specified in the usage process type information. This jk

Therefore, when there is no information 127 jk in which “corrected and used” is specified in the usage process type information, the correction information 122 does not exist.

[0032] It should be noted that the individual correction information patterns are based on prior experiments on the output fluctuations of the acceleration sensor 172 and the angular velocity sensor 173 associated with the drive of the display device 131! Determined.

[0033] Returning to FIG. 1, the display unit 130 transmits (i) a display device 131 such as a liquid crystal display panel, an organic EL (Electro Luminesence) panel, a PDP (Plasma Display Panel), and (ii) a control unit 110. Based on the displayed display control data, the display unit 130 is configured to include a display controller such as a graphic renderer that controls the entire display unit 130, and (iii) a display image memory that stores display image data. The display unit 130 displays map information, route information, operation guidance information, and the like under the control of the control unit 110.

[0034] The sound output unit 140 outputs (i) a DA conversion ^ (Digital to Analog Converter) that converts digital audio data received from the control unit 110 into an analog signal, and (ii) the DA converter power. An amplifier that amplifies the analog signal, and (iii) a speaker that converts the amplified analog signal into sound. Under the control of the control unit 110, the sound output unit 140 outputs guidance voice, music, etc., such as the traveling direction of the vehicle, the traveling situation, and the traffic situation.

[0035] The operation input unit 150 includes a key unit provided in the main body of the navigation device 100, Or it comprises a remote input device etc. provided with a key part. Here, a touch panel provided in the display device 131 of the display unit 130 can be used as the key part provided in the main body. Instead of the configuration having the key part, a configuration for inputting voice can be adopted.

[0036] When the user operates this operation input unit 150, the operation content of the navigation device 100 is set. For example, the user uses the operation input unit 150 to perform destination setting, information search setting, vehicle travel status display setting, and the like. Such input contents are sent from the operation input unit 150 to the control unit 110.

[0037] The GPS receiving unit 160 calculates pseudo coordinate values of the current position of the vehicle based on the reception results of radio waves from a plurality of GPS satellites, and reports them to the control unit 110. Further, the GPS receiving unit 160 measures the current time based on the time when the GPS satellite power is also transmitted, and sends the current time to the control unit 110.

[0038] The travel sensor unit 170 includes (i) a vehicle speed sensor 171 that detects a moving speed of the vehicle, (ii) an acceleration sensor 172 that detects an acceleration acting on the vehicle, and (iii) an angular velocity of the vehicle. And an angular velocity sensor 173 for detection. Here, the vehicle speed sensor 171 detects a pulse signal output by rotation of an axle or a wheel. Further, the acceleration sensor 172 detects, for example, acceleration in a three-dimensional direction. The angular velocity sensor is configured as a so-called gyro sensor, for example, and detects the angular velocity. Such a detection result is sent from the traveling sensor unit 170 to the control unit 110.

The display device drive system 180 includes a motor and a mechanism member. The display device drive system 180 drives the display device 131 in accordance with a command from the drive control unit 112 of the control unit 110.

[0040] [Operation]

Next, a description will be given mainly focusing on sensor utilization processing in driving the display device 131 in the navigation device 100 configured as described above.

[0041] <Sensor utilization processing when taking out display device 131>

First, the sensor use processing during the take-out drive of the display device 131 will be described mainly with reference to FIG. [0042] It is assumed that the display device 131 is initially housed in the chassis 190 (see FIG. 2A). In the initial state, the sensor output processing unit 113 performs normal processing for notifying all of the output results from the travel sensor unit 170 to the navigation processing unit 111 in step S21 in FIG. As a result, the navigation processing unit 111 performs navigation processing using the vehicle speed detection result, acceleration detection result, and angular velocity detection result output from the travel sensor unit 170.

When the user operates the operation input unit 150 and issues a take-out command for the display device 131, the operation input unit 150 sends a take-out drive command to the drive control unit 112. Receiving this take-out drive command, the drive control unit 112 sends a notification immediately before the start of take-out to the sensor output processing unit 113, and performs take-out drive control of the display device 131 in step S11.

On the other hand, the sensor output processing unit 113 that has received the notification immediately before the start of extraction performs a process immediately after the start of extraction in step S22. In step S22, the sensor output processing unit 113 performs processing information 127 immediately after the start of extraction in the acceleration sensor usage information 126 in the storage device 120.

1 Read usage process type information in 11. When the usage process type information read out in this way is “use as is”, the sensor output processing unit 113 outputs the output result from the acceleration sensor 172 as it is over a predetermined period immediately after the start of extraction. The navigation processing unit 111 is notified as acceleration data.

[0045] In addition, the use process type information in the process information 127 immediately after the start of extraction is "corrected and used".

11

Sensor output processing unit 113 first corrects the processing information 127 immediately after the start of extraction.

11 Reads the positive information pattern identifier. Subsequently, the sensor output processing unit 113 reads the correction information pattern corresponding to the read correction information pattern identifier in the correction information 122 in the storage device 120. The sensor output processing unit 113 corrects the output result from the acceleration sensor 172 using the read correction information pattern over the period immediately after the start of extraction, and the correction result is used as acceleration data to the navigation processing unit 111. Notice.

[0046] When the usage process type information in the process information 127 immediately after the start of extraction is "ignore"

11

Then, the sensor output processing unit 113 notifies the navigation processing unit 111 that the notification of acceleration data is to be stopped. As a result, the navigation processing unit 111 has no acceleration data. The viewing mode is set. The sensor output processing unit 113 ignores the output result from the acceleration sensor 172 over the period immediately after the start of extraction.

[0047] In step S22, the sensor output processing unit 113 displays the usage process type information in the processing information 127 immediately after the start of extraction in the angular velocity sensor usage information 126 in the storage device 120.

2 21

read out. When the usage process type information read out in this way is “use as is”, the sensor output processing unit 113 outputs the output result from the angular speed sensor 173 as it is over the predetermined period immediately after the start of extraction. To the navigation processing unit 111.

[0048] In addition, the use process type information in the process information 127 immediately after the start of extraction is "corrected use".

twenty one

21 Reads the positive information pattern identifier. Subsequently, the sensor output processing unit 113 reads the correction information pattern corresponding to the read correction information pattern identifier in the correction information 122 in the storage device 120. The sensor output processing unit 113 corrects the output result from the angular velocity sensor 173 using the read correction information pattern over the period immediately after the start of extraction, and the correction result is converted into angular velocity data to the navigation processing unit 111. Notice.

[0049] When the usage process type information in the process information 127 immediately after the start of extraction is "ignore"

twenty one

In this case, the sensor output processing unit 113 notifies the navigation processing unit 111 that the notification of the angular velocity data is to be stopped. As a result, the navigation processing unit 111 enters the angular velocity data ignoring mode. The sensor output processing unit 113 ignores the output result from the angular velocity sensor 173 over the period immediately after the start of extraction.

[0050] In step S22, the sensor output processing unit 113 notifies the navigation processing unit 111 of the output result from the vehicle speed sensor 171 as it is as the vehicle speed data. This is because it is considered that the output of the vehicle speed sensor 171 that detects the pulse signal output by the rotation of the axle or the wheel does not fluctuate when the display device 131 is driven.

[0051] When the period immediately after the start of extraction ends, in step S23, the sensor output processing unit 113 force extraction midway processing is performed. In step S23, the sensor output processing unit 113 uses the information in the extraction process information 127 in the acceleration sensor usage information 126 in the storage device 120. Read processing type information.

[0052] The usage process type information in the retrieved extraction process information 127 is “use as is”.

12

Alternatively, in the case of “corrected and used”, the sensor output processing unit 113 determines whether or not the state power is that the navigation processing unit 111 is in the acceleration ignoring mode. When this determination is negative, the sensor output processing unit 113, except that the correction information pattern referred to in the case of “corrected and used” is different, the processing information immediately after the start of extraction in step S22 described above. The usage process type information is “Use as is” or “Use after correction”

11

The same processing for the output from the acceleration sensor 172 as in the case is executed until a notification immediately before the completion of the extraction described later is made.

On the other hand, when the navigation processing unit 111 is set to the acceleration ignoring mode and the determination result of the state force is positive, the sensor output processing unit 113 notifies the acceleration data notification. The navigation processing unit 111 is notified of the resumption. As a result, the acceleration data ignoring mode of the navigation processing unit 111 is canceled. Then, the sensor output processing unit 113 is different from the correction information pattern referred to in the case of “corrected and used”, except that the sensor output processing unit 113 is the processing information 127 immediately after the extraction start in step S22.

The same processing for the output from the acceleration sensor 172 as when the usage process type information in “Use as is” or “Use with correction” is executed until a notification immediately before the end of extraction described later is made.

[0054] If the usage process type information power in the retrieved extraction process information 127 is “ignore”

12

In this case, the sensor output processing unit 113 determines whether or not the state power is causing the navigation processing unit 111 to be in the acceleration ignoring mode. If the result of this determination is affirmative, the sensor output processing unit 113 continues ignoring the output result from the acceleration sensor 172 until a notification immediately before completion of extraction is given. On the other hand, when the result of the determination is negative, the sensor output processing unit 113 notifies the navigation processing unit 111 that the acceleration data notification is to be stopped. As a result, the navigation processing unit 111 enters the acceleration data ignorance mode. Then, the sensor output processing unit 113 ignores the output result from the acceleration sensor 172 until a notification immediately before completion of extraction is given.

[0055] In step S23, the sensor output processing unit 113 performs the angular velocity sensor in the storage device 120. Read the usage process type information in the extraction process information 127 in the service usage information 126.

2 22

put out. The usage process type information in the retrieved extraction process information 127 is “

twenty two

In the case of “use” or “corrected and used”, the sensor output processing unit 113 sets the navigation processing unit 111 to the angular velocity ignoring mode and determines whether or not the state force is satisfied. When this determination is negative, the sensor output processing unit 113 performs the processing immediately after the extraction start in step S22 described above, except that the correction information pattern referred to in the case of “corrected and used” is different. The usage process type information in Information 127 is “Use as is” or “Use after correction”.

twenty one

The same processing for the output from the angular velocity sensor 173 as in the case is executed until a notification immediately before completion of extraction is given.

[0056] On the other hand, if the above-described navigation processing unit 111 is set to the acceleration ignoring mode and the determination result as to whether or not the state is a positive state, the sensor output processing unit 113 resumes the notification of the angular velocity data. The navigation processing unit 111 is notified of this. As a result, the acceleration data ignoring mode of the navigation processing unit 111 is canceled. The sensor output processing unit 113, except that the correction information pattern to be referred to in the case of “corrected and used” is different, the sensor output processing unit 113 is in the processing information 1 27 immediately after the start of extraction in step S22. The same as when the usage process type information is "Use as is" or "Use after correction"

twenty one

The processing for the output from the angular velocity sensor 173 is executed until a notification is sent immediately before the extraction is completed.

[0057] If the usage process type information power in the retrieved extraction process information 127 is “ignore”

12

[0058] Note that in step S23, as in the case of step S22 described above, the sensor output The processing unit 113 notifies the navigation processing unit 111 of the output result from the vehicle speed sensor 171 as it is as vehicle speed data.

[0059] When the take-out drive control in step SI 1 nears the end, which is performed in parallel with the process in step S23, the drive control unit 112 sends a notification immediately before the take-out end to the sensor output processing unit 113. send. The sensor output processing unit 113 that has received the notification immediately before the completion of extraction performs a process immediately before the completion of extraction in step S24. In this step S 24, instead of processing information 127 during extraction and processing information 127 during extraction, processing information 127

12 22 13 Refer to processing information 127 immediately before the end of extraction, and the notification immediately before the end of extraction will be described later.

twenty three

The same processing as step S23 described above is performed except that the processing is performed during the period until the notification of completion of extraction.

Next, when the take-out drive control in step S11 ends, the drive control unit 112 sends a take-out end notification to the sensor output processing unit 113. The sensor output processing unit 113 that has received the notification of the completion of extraction cancels these modes when the navigation processing unit 111 is set to the acceleration data ignoring mode or the angular velocity ignoring mode in step S25. This mode cancellation is performed by notifying the navigation processing unit 111 that the acceleration data notification is resumed in the acceleration data ignoring mode, and in the angular velocity data ignoring mode, the angular velocity data is ignored. The notification is sent to the navigation processing unit 111 to resume the notification. Then, normal processing similar to that in step S21 described above is performed.

Next, sensor utilization processing during the storage drive of the display device 131 will be described with reference mainly to FIG.

As a premise, it is assumed that the display device 131 is initially in a state of being taken out into the chassis 190 (see FIG. 2C). In such an initial state, in step S41 of FIG. 6, the sensor output processing unit 113 performs normal processing similar to that in step S21.

When the user operates the operation input unit 150 to give a storage command for the display device 131, the operation input unit 150 sends a storage drive command to the drive control unit 112. Receiving this storage drive command, the drive control unit 112 sends a notification immediately before the storage start to the sensor output processing unit 113. In step S31, storage drive control of the display device 131 is performed.

On the other hand, the sensor output processing unit 113 that has received the notification immediately before the start of storage performs a process immediately after the start of storage in step S42. In this step S42, processing information 127 immediately after the extraction is started.

11 and processing information 127 immediately after storage start and storage instead of processing information 127 immediately after storage start

21 14 Refer to the processing information 127 immediately after the start and the predetermined time from the start of the storage drive.

twenty four

The sensor output processing unit 113 performs the same processing as in step S22 described above except that it is the period immediately after storage.

When the period immediately after the start of storage ends, in step S43, the sensor output processing unit 113 performs a process during storage. In this step S43, the extraction process information 127 and the

12 In-process information 127 and in-process information 127 instead of in-process information 127

Refer to 22 15 2 and the period until the notification immediately before the end of storage from the drive control unit 112 is received.

Five

Except for the interval, the sensor output processing unit 113 performs the same processing as in step S23 described above.

[0066] When the storage drive control in step S31 is performed in parallel with the processing of step S43 above, the drive control unit 112 sends a notification immediately before the storage end to the sensor output processing unit 113. . The sensor output processing unit 113 that has received the notification immediately before the end of storage performs a process immediately before the end of storage in step S44. In this step S44, instead of the processing information immediately before the end of extraction 127 and the processing information immediately before the end of extraction 127, the processing information immediately before the end of storage 12

13 23

7 and processing information 127 immediately before storage end, and from notification immediately before storage end

16 26

The same process as step S24 described above is performed except that the process is performed until a storage end notification described later.

Next, when the storage drive control in step S31 ends, the drive control unit 112 sends a storage end notification to the sensor output processing unit 113. The sensor output processing unit 113 that has received the notification of completion of extraction performs the same processing as in step S25 described above in step S45.

[0068] As described above, in the present embodiment, when a drive command (extraction command or storage command) for the display device 131 is performed, the drive control unit 112 detects the drive command. Then, the drive control unit 112 controls the drive of the display device 131 via the display device drive system 180. In addition, a notification immediately before the start of driving, a notification immediately before the end of driving, and a notification of the end of driving are sent to the sensor output processing unit 113.

[0069] Upon receiving these notifications, the sensor output processing unit 113 refers to the sensor output usage information 121 and the correction information 122 as necessary, and the acceleration sensor 172 and the angular velocity in which output fluctuation occurs due to the drive of the display device 131. The output result of the sensor 173 is processed. If data that can be used effectively is obtained as a result of this processing, the processing result is notified to the navigation processing unit 111.

Therefore, it is possible to appropriately deal with sensor output fluctuations during the drive period of the display device 131.

In the present embodiment, the processing mode can be changed by dividing the driving period of the display device 131 into a period immediately after the start of driving, an intermediate period during driving, and an engine immediately before the end of driving. For this reason, it is possible to take detailed measures according to the magnitude of the current change in the display device drive system 180 that uses the motor power and how the mechanical force is applied.

In the present embodiment, “as is”, “corrected and used”, and “ignore” can be selected as processing forms in the sensor output processing unit 113. For this reason, sensor output fluctuations can be appropriately dealt with by preliminarily evaluating the actual output fluctuations and determining the processing mode.

[Modification of Embodiment]

The present invention is not limited to the above embodiment, and various modifications are possible.

[0074] For example, in the above embodiment, the sensor output usage information 121 is configured to include two types of sensor information forces, that is, acceleration sensor information and angular velocity sensor information. On the other hand, if it is necessary to correct only one of the two types of sensors as a result of the evaluation of output fluctuation due to the drive of the display device 131 based on the previous experiment, The sensor output utilization information 121 may be configured with only information power.

In the above-described embodiment, the vehicle speed sensor information may be included in the sensor output usage information 121 as necessary, if the force is determined not to be included in the sensor output usage information 121. Further, sensor information for any sensor is included in the sensor output usage information 121, and the sensor output processing unit causes the acceleration sensor 172 and the angular velocity sensor in the above embodiment to be used. Let the sensor output processing unit 113 perform the processing for the output of the sensor 173.

[0076] In the above embodiment, the sensor output usage information 121 is stored in the storage device 120. However, the sensor output information that is determined for each model or type of vehicle to be installed is stored in the sensor output processing unit. You may make it incorporate in 113. FIG.

In the above embodiment, sensor output processing such as correction is performed when the display device 131 is driven. In contrast, when the flap is driven, a display device for energy saving purposes

The sensor output processing similar to that in the above embodiment may be performed when controlling the amount of light of the backlight 131.

In the above-described embodiment, the present invention can also be applied to a navigation apparatus mounted on a power aircraft, a ship, or the like in which the present invention is applied to an in-vehicle navigation apparatus.

[0079] The control unit 110 in the above embodiment includes a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and the like. The computer may be configured so that the processing operation in the above-described embodiment is executed by the computer with a vehicle state detection program prepared in advance. The vehicle state detection program is recorded on a computer-readable recording medium such as a hard disk, a CD-ROM, or a DVD, and the recording medium force is also read out by the computer and executed. In addition, the vehicle state detection program may be acquired in the form recorded on a portable recording medium such as a CD-ROM or DVD, or may be acquired in the form of delivery via a network such as the Internet. You may make it.

Claims

The scope of the claims

[1] A navigation device that includes a sensor and performs navigation processing using output information of the sensor,

Input detection means for detecting that a predetermined command input has been performed;

Sensor output processing means for performing processing for using output information of the sensor according to a predetermined usage mode in a response operation period in which the navigation device operates in response to the predetermined command input; A navigation device characterized by comprising:

[2] Correction information for correcting fluctuations in the output information of the sensor during the correction use period, which is at least a part of the response operation period and is a period for correcting and using the output information of the sensor. And further comprising storage means for storing,

In the usage mode, when the correction usage period is determined, the sensor output processing unit is configured to read the sensor output information from the storage unit during the correction usage period. The navigation device according to claim 1, wherein correction is performed using information.

[3] The operation performed in response to the predetermined command input includes start and stop of motor drive,

3. The navigation device according to claim 2, wherein the correction use period is a period including at least one of a start time and a stop time of the motor drive.

[4] When a sensor non-use period, which is a period during which the output information of the sensor is to be ignored in the use mode, is defined, the sensor output processing means is configured to use the sensor force during the sensor non-use period. The navigation device according to any one of claims 1 to 3, wherein the output of the object is ignored.

[5] The operation performed in response to the predetermined command input includes start and stop of motor drive,

5. The navigation device according to claim 4, wherein the sensor non-use period is a period including at least one of a start time and a stop time of the motor drive.

[6] In the usage mode, a period to be used without correcting the output information of the sensor. 6. The sensor output processing means outputs an output result of the sensor force as it is during the non-correction use period when a non-correction use period is determined. The navigation device according to any one of the above.

[7] The operation performed in response to the predetermined command input includes start and stop of motor drive,

7. The navigation device according to claim 6, wherein the non-correction use period includes a part of a period excluding a start time and a stop time of the motor drive.

8. The navigation device according to claim 1, wherein the sensor includes at least one of an acceleration sensor and an angular velocity sensor.

[9] A sensor utilization processing method in a navigation apparatus that includes a sensor and performs navigation processing using output information of the sensor,

An input detection step for detecting that a predetermined command input has been performed;

A sensor output utilization processing step for performing a process for utilizing the output information of the sensor according to a predetermined utilization mode in a response operation period in which the navigation operates in response to the predetermined command input; A sensor use processing method characterized by comprising:

[10] A sensor utilization processing program for causing a calculation means of a navigation device to execute the sensor utilization processing method according to claim 9.

[11] A recording medium recorded with the sensor utilization processing program according to claim 10, wherein the sensor utilization processing program according to claim 10 is recorded so as to be readable by the arithmetic means of the navigation device.