WO2007097132A1

WO2007097132A1 - Device, method, and program for calculating movement conditions, and recording medium for the program

Info

Publication number: WO2007097132A1
Application number: PCT/JP2007/050202
Authority: WO
Inventors: Kazuaki Tanaka; Seiji Imada
Original assignee: Pioneer Corporation
Priority date: 2006-02-20
Filing date: 2007-01-11
Publication date: 2007-08-30

Abstract

A vehicle speed sensor (171) detects the speed of a vehicle based on a specific speed information signal converted into a predetermined signal mode after being changed into digital information. A vehicle speed accuracy detection section (111A) determines the quality of how accurate the vehicle speed is reflected to the result of the vehicle speed detection by the vehicle speed sensor (171). When it is determined that the accuracy of vehicle speed reflection to the result of the vehicle speed detection is satisfactory, the result of the detection by the vehicle speed sensor (171) is used, without change, to calculate information on movement conditions. On the other hand, when the accuracy of the result of the vehicle speed detection by the vehicle speed sensor (171) is determined to be unsatisfactory, information different from the actual detection result by the vehicle speed sensor (171) is used to calculate information on movement conditions. As a result, information on movement conditions of a mobile body can be accurately obtained.

Description

Specification

Moving state calculation apparatus, method thereof, program thereof and recording medium thereof

The present invention relates to a movement status calculation device, a method thereof, a program thereof, and a recording medium thereof.

Background art

Conventionally, a navigation apparatus that is mounted on a moving body such as a vehicle, calculates movement state information, and presents it to an operator of the moving body has been widely used. In such a navigation device, navigation is performed by using a signal from a GPS (Global Positioning System) satellite and detection results by a traveling sensor unit including a speed sensor, an acceleration sensor, an angular velocity sensor, etc. arranged in the navigation device. It is doing.

[0003] In the travel sensor unit, the acceleration sensor and the angular velocity sensor detect the acceleration and the angular velocity without receiving a signal from outside the navigation device, while the speed sensor receives the signal from the navigation device external force. The speed detection method is generally used in, for example, an in-vehicle navigation device. As a signal that the powerful speed sensor receives from outside the vehicle-mounted navigation device, for example, there is a vehicle speed pulse signal generated by detecting the rotation of the wheel by an ABS (Anti-lock Brake System) sensor.

[0004] However, many ABS sensors distinguish between a rotating wheel and a locked wheel when the vehicle is traveling at low speed. I can't. For this reason, since the vehicle speed pulse signal is not generated when the vehicle is traveling at a low speed, the speed sensor (vehicle speed sensor) that uses the vehicle speed pulse signal cannot detect the vehicle speed and cannot calculate the travel distance. .

[0005] In order to cope with such a situation, when the vehicle speed sensor cannot acquire the vehicle speed pulse signal, the vehicle travel time is determined based on the travel period during which the vehicle speed sensor cannot acquire the vehicle speed pulse signal and the speed at which the vehicle speed pulse signal cannot be acquired. A technique for calculating the travel distance in the area is proposed (see Patent Document 1; hereinafter referred to as “conventional example”).

[0006] On the other hand, in order to simplify wiring of various signals related to various electrical components mounted on a moving body For this purpose, a technology related to a local area network (LAN) in a mobile body has been proposed (see Patent Document 2). In the case of adopting a mobile LAN that is profitable, the vehicle speed pulse signal described above may be converted into digital data and then supplied to the navigation device as communication data via the mobile LAN. Conceivable.

[0007] However, the communication format in the mobile LAN is currently different depending on the manufacturer of the mobile LAN and the supplier of the mobile LAN. Proper handling of all these various communication formats is extremely difficult for navigation devices. In order to eliminate the difficulty, for example, an adapter that can receive vehicle speed pulse information converted into digital data via the mobile LAN and regenerate the vehicle speed pulse signal and supply it to the navigation device is practical. It is turned into.

[0008] Patent Document 1: Japanese Patent Laid-Open No. 2003-322533

Patent Document 2: Japanese Patent Laid-Open No. 2004-328488

Disclosure of the invention

Problems to be solved by the invention

[0009] According to the knowledge obtained by the inventor about the above-mentioned mobile LAN adapter, the vehicle speed converted to digital data in the low speed range when the vehicle speed pulse or the like in the mobile LAN adapter is regenerated. Not always true to pulse information! There are things. For example, there are cases where the number of vehicle speed pulses decreases or the noise increases at low speeds. There are also cases where vehicle speed pulses do not occur.

[0010] If the adapter connected to the navigation device does not generate a vehicle speed pulse, it may be possible to apply the above-described conventional technique. However, when the vehicle speed pulse decreases or the variation becomes large, the conventional technique cannot be applied, and the movement status information such as the movement distance with low accuracy is acquired. Avoiding this situation

1S One of the problems to be solved by the present invention.

[0011] The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a movement situation calculation apparatus and a movement situation calculation method that can obtain accurate movement situation information.

Means for solving the problem [0012] According to a first aspect of the present invention, there is provided speed detection means for detecting the speed of a moving body based on a specific speed information signal that has been converted into a predetermined signal form after being digitalized. A movement-related information detecting means for detecting information related to movement of the moving body without using a speed information signal; and a determination means for determining whether or not a detection result by the speed detecting means is within an allowable accuracy range. If the determination result is affirmative, use the detection result of the speed detection means as it is to calculate the movement status information, and if the determination result is negative, the speed detection means And a movement status information calculating unit that calculates the movement status information using information different from the detection result itself.

[0013] According to a second aspect of the present invention, there is provided a speed detection step of detecting a speed of a moving body based on a specific speed information signal that has been converted into a digital signal and converted into a predetermined signal form; A determination step for determining whether or not the detection result in the detection means is within an allowable accuracy range; and when the determination result is affirmative; the detection result in the speed detection step is used as it is, and the movement A first movement status information calculation step for calculating body movement status information; and if the result of the determination is negative, the movement status information is obtained using information different from the detection result itself in the speed detection step. And a second movement status information calculation step for calculating a movement status calculation method.

[0014] From a third aspect, the present invention is a movement status calculation program characterized by causing the calculation means of the movement status calculation device to execute the movement status calculation method of the present invention.

[0015] From a fourth aspect, the present invention is a recording medium characterized in that the movement status calculation program of the present invention is recorded so as to be readable by a calculation means of a movement status calculation device.

Brief Description of Drawings

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

2 is a block diagram for explaining a configuration of a vehicle speed accuracy detection unit and a navigation processing unit in FIG. 1. FIG.

[Figure 3] The configuration of the in-vehicle LAN system that generates the vehicle speed pulse received by the vehicle speed sensor in Figure 1 It is a block diagram shown roughly.

4 is a flowchart for explaining the operation of the apparatus of FIG.

FIG. 5 is a block diagram schematically showing a configuration of a navigation device according to a second embodiment of the present invention.

6 is a block diagram for explaining a configuration of a vehicle speed accuracy detection unit and a navigation processing unit in FIG. 5. FIG.

7 is a flowchart for explaining the operation of the apparatus of FIG.

FIG. 8 is a block diagram schematically showing a configuration of a navigation device according to a third embodiment of the present invention.

FIG. 9 is a block diagram for explaining a configuration of a vehicle speed accuracy detection unit and a navigation processing unit in FIG. 8.

FIG. 10 is a flowchart for explaining the operation of the apparatus of FIG.

BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same or equivalent element, and the overlapping description is abbreviate | omitted.

[0018] [First embodiment]

First, a first embodiment of the present invention will be described with reference to FIGS. In the description of this embodiment, a navigation device mounted on a vehicle will be described as an example.

[0019] <Configuration>

FIG. 1 is a block diagram showing a schematic configuration of a navigation device 100A as a movement status calculation device according to the present embodiment. As shown in FIG. 1, the navigation device 100A includes a control unit 110A and a storage device 120A.

The navigation device 100A includes a sound output unit 130, a display unit 140, and an operation input unit 150. Further, the navigation device 100A includes a GPS (Global Positioning System) receiving unit 160 as a GPS receiving means, and a travel sensor unit 170.

[0021] Elements 120A to 170 other than the control unit 110A are connected to the control unit 110A. [0022] The control unit 110A performs overall control of the entire navigation device 100A, and performs vehicle speed accuracy detection processing, which will be described later, navigation processing using the result of the vehicle speed accuracy detection processing, and the like. The control unit 110A includes a vehicle speed accuracy detection unit 111A as a determination unit and a navigation processing unit 112A as a movement status information calculation unit.

As shown in FIG. 2, the vehicle speed accuracy detection unit 111A includes a determination reference information calculation unit 113 and a vehicle speed accuracy determination unit 114. The determination criterion information calculation unit 113 calculates determination criterion information based on a GPS speed, which will be described later, reported from the GPS receiving unit 160, and a detection result by an acceleration sensor 172 described later in the traveling sensor unit 170. The criterion information consisting of the actual criterion speed and its standard deviation is calculated. The calculation result by the determination reference information calculation unit 113 is reported to the vehicle speed accuracy determination unit 114. In the present embodiment, the determination reference speed and its standard deviation are calculated as the determination reference information.

The vehicle speed accuracy determination unit 114 determines the accuracy of the detection result by the vehicle speed sensor 171 based on the determination reference information reported from the determination reference information calculation unit 113. The result of this determination is reported to the navigation processing unit 112A.

The navigation processing unit 112A includes an autonomous sensor processing unit 115A and a navigation execution unit 116. The autonomous sensor processing unit 115A appropriately refers to the information reported from the GPS receiving unit 160, detects the detection result reported from the traveling sensor unit 170, which is an autonomous sensor unit, and is reported from the vehicle speed accuracy determination unit 114. The vehicle speed accuracy information is used to calculate movement status information such as the distance traveled by the vehicle. The calculation result in the autonomous sensor processing unit 115 A is reported to the navigation execution unit 116.

[0026] The navigation execution unit 116 accesses the storage device 120A based on the information reported from the GPS reception unit 160 and the calculation result by the autonomous sensor processing unit 115A, and performs the above-described components 130 to 150. Use it to provide navigation information to users. That is, the navigation execution unit 116 corresponds to the command input result from the operation input unit 150 related to the navigation processing, the positioning result in the GPS receiving unit 160 and the calculation result by the calculation result by the autonomous sensor processing unit 115A. Reads out the information stored in the storage device 12 OA. Then, the navigation execution unit 116 (a) user Map display processing that displays the map of the area specified by the display unit 140 on the display unit 140, (b) calculating where the vehicle is located on the map and in which direction the vehicle is pointing, Map matching processing that is displayed on the display and communicated to the user, (c) Route search processing that searches the recommended driving route from the current position of the vehicle to any position specified by the user, (d) Route to display guidance on the display unit 140 display or to output voice guidance from the sound output unit 130 to accurately advise the direction to travel when driving to the destination along the route. Provide guidance.

[0027] The storage device 120A stores various data necessary for the operation of the navigation device 100A, including the navigation usage information 121 such as the map information 122. The control unit 110A can access the storage area of the storage device 120A, and can write data to the storage area and read data of the storage area power.

[0028] The sound output unit 130 outputs (i) a DA converter (Digital to Analog Converter) that converts digital audio data received from the control unit 110A into an analog signal, and (ii) the DA converter. An amplifier that amplifies the analog signal, and (iii) a speaker that converts the amplified analog signal into sound. This sound output unit 130 outputs the in-house voice, music, etc., such as the traveling direction of the vehicle, the traveling situation, and the traffic situation, under the control of the control unit 110A.

[0029] The display unit 140 includes (i) a display device such as a liquid crystal display panel, an organic EL (Electro Luminescence) panel, a PDP (Plasma Display Panel), and (ii) display control data transmitted from the control unit 110A. A display controller such as a graphic renderer for controlling the entire display unit 140, and (m) a display image memory for storing display image data are provided. The display unit 140 displays map information, route information, operation guidance information, and the like under the control of the control unit 110A.

[0030] The operation input unit 150 is configured by a key unit provided in the main body of the navigation device 100A, a remote input device including the key unit, or the like. Here, as the key unit provided in the main unit, the touch panel provided in the display device of the display unit 140 is used. Can be used. It should be noted that instead of a configuration having a key part, a configuration for inputting voice may be adopted.

[0031] When the user operates the operation input unit 150, the operation content of the navigation device 100A 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 110A.

[0032] The GPS receiving unit 160 calculates a pseudo coordinate value (hereinafter referred to as "GPS position") of the current position of the vehicle based on reception results of radio waves from a plurality of GPS satellites, and sends it to the control unit 110A. Report. In addition, the GPS receiving unit 160 calculates the vehicle speed (“GPS speed” in this specification) based on the wavelength change due to the Doppler effect of the radio wave of the GPS satellite power, and sends it to the control unit 110A. Report. Furthermore, 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 110A.

[0033] The travel sensor unit 170 includes (i) a vehicle speed sensor 171 as speed detecting means for detecting the moving speed (vehicle speed) of the vehicle, and (ii) an acceleration detecting hand for detecting acceleration acting on the vehicle. An acceleration sensor 172 as a stage; and (iii) an angular velocity sensor 173 that detects an angular velocity of the vehicle. Here, the acceleration sensor 172 detects, for example, acceleration in a three-dimensional direction. The angular velocity sensor 173 is configured as a so-called gyro sensor, for example, and detects the angular velocity. The detection results by the acceleration sensor 172 and the angular velocity sensor 173 are sent to the control unit 110A.

[0034] The vehicle speed sensor 171 detects a vehicle speed pulse signal. This vehicle speed pulse signal is generated in an in-vehicle LAN system 900 arranged in the vehicle as shown in FIG. 3, and is output to the vehicle speed sensor 171. This in-vehicle LAN system 900 includes an original vehicle speed pulse generation unit 910, an in-vehicle LAN processor 920, a LAN node 930, and a bus adapter 940. In this in-vehicle LAN system 900, the in-vehicle LAN processor 920 receives the original vehicle speed pulse signal generated by the original vehicle speed pulse generator 910 such as ABS. Subsequently, the in-vehicle RAN processor 920 converts the information carried by the original vehicle speed pulse signal into digital data and sends the information to the bus adapter 940 or a speedometer unit (not shown) via the LAN bus 930. Send in the same communication format. The bus adapter 940 When the converted information is received, a vehicle speed pulse signal is generated based on the received information and output to the vehicle speed sensor 171.

[0035] <Operation>

Next, the operation of the navigation device 100A configured as described above will be described mainly focusing on the vehicle speed accuracy detection process and the response to the vehicle speed accuracy detection result.

In the navigation apparatus 100A, when detecting the vehicle speed accuracy, first, in step S11 of FIG. 4, the determination criterion information calculation unit 113 calculates determination criterion information. In calculating the determination criterion information, first, the determination criterion information calculation unit 113 acquires the GPS speed and the detection result by the acceleration sensor 172 from the GPS receiving unit 160.

Next, the determination criterion information calculation unit 113 calculates the velocity V based on the detection result by the acceleration sensor 172 and evaluates the calculation accuracy of the velocity V. Subsequently, the judgment criterion information calculation unit 113 sets the GPS speed to V and calculates a weighted average of the GPS speed V and the speed V.

G G α

When calculating GPS speed V weight W and speed V weight W, speed V calculation accuracy

G G a a a

Based on the evaluation results!

[0038] Next, the determination reference information calculation unit 113 calculates the determination reference speed V using the following equation (1).

S

To do.

V = (W -V + W -V) / (W + W)

S G G a a G a

[0039] Subsequently, determination criterion information calculation unit 113, based on the calculation accuracy of the evaluation results of the velocity V _a, and calculates the standard deviation σ of determining the reference speed V. Then, the criterion information calculation unit 113

S S

Is based on the standard deviation σ of the calculated judgment reference speed V as judgment reference information.

S S

Send to judgment unit 114.

[0040] The vehicle speed accuracy determination unit 114 that has received the determination reference information determines whether the accuracy of the vehicle speed V at which the detection result force by the vehicle speed sensor 171 can be obtained in step S12. When making this decision

Ρ

Thus, the vehicle speed accuracy judgment unit 114 satisfies the vehicle speed V 1S, for example, the condition expressed by the following equation (2).

Ρ

By determining whether the added force is good or not, by determining whether the vehicle speed V is accurate or not,

Ρ

The accuracy of the detection result by the vehicle speed sensor 171 is judged.

V-σ ≤ V ≤ V + σ--(2)

S S Ρ s s

[0041] If the result of the determination in step S12 is affirmative (step S12: Y), The vehicle speed accuracy determination unit 114 determines that the detection result by the vehicle speed sensor 171 is accurate, and reports that fact to the navigation processing unit 112A. Then, the process proceeds to step S13.

[0042] In step S13, using the detection result of the autonomous sensor processing unit 115A force vehicle speed sensor 171 of the navigation processing unit 112A as it is, the movement status information such as the vehicle speed and the movement distance is calculated.

[0043] On the other hand, when the result of the determination in step S12 is negative (step S12: N), vehicle speed accuracy determination unit 114 determines that the accuracy of the detection result by vehicle speed sensor 171 is poor, and so Is reported to the navigation processing unit 112A. Then, the process proceeds to step S14.

In step S13, the navigation processing unit 112A performs calculation necessary for navigation without using the detection result by the vehicle speed sensor 171. For example, using the report result from the autonomous sensor processing unit 115A force GPS receiving unit 160 and the detection result by the acceleration sensor 172, the movement status information such as the vehicle speed and the movement distance is calculated.

As described above, in this embodiment, the vehicle speed sensor 171 uses the vehicle speed pulse signal generated by the bus adapter 940 based on the vehicle speed pulse information converted into digital data by the in-vehicle LAN processor 920. To detect the vehicle speed. The vehicle speed accuracy detection unit 111A detects whether the detection result by the vehicle speed sensor 171 is accurate by using the criterion information obtained without using the vehicle speed pulse signal. As a result, it is possible to objectively detect the accuracy of the detection result by the vehicle speed sensor 171.

[0046] Based on the detection result of the accuracy of the detection result by the vehicle speed sensor 171, the navigation processing unit 112A changes the information used for calculating the movement status information such as the movement distance. That is, when the accuracy of the detection result by the vehicle speed sensor 171 is good, the navigation processing unit 112A calculates the movement status information such as the movement distance using the detection result by the vehicle speed sensor 171 as it is. On the other hand, when the accuracy of the detection result by the vehicle speed sensor 171 is poor, the navigation processing unit 112A does not use the detection result by the vehicle speed sensor 171 but uses the detection result by the acceleration sensor 172, etc. The movement status information such as distance is calculated. Therefore, according to the present embodiment, the accuracy is high. The movement status information can be calculated.

[0047] [Second Embodiment]

First, a second embodiment of the present invention will be described with reference to FIGS. In the description of this embodiment, a navigation device mounted on a vehicle will be described as an example.

[0048] <Configuration>

FIG. 5 is a block diagram showing a schematic configuration of a navigation device 100B as a movement status calculation device according to the present embodiment. As shown in FIG. 5, the navigation device 100B is provided with a control unit 110B instead of the control unit 110A as compared with the navigation device 100A of the first embodiment, and the storage device 120A. This is different from the point provided with a storage device 120B as a speed range information storage unit.

Here, storage device 120B is different from storage device 120A only in that vehicle speed threshold value information 126 as speed range information is further stored. The vehicle speed threshold value information 126 is information for determining whether or not the vehicle is within a vehicle speed range in which it is determined that the detection result force accuracy of the vehicle speed sensor 171 is high. In the present embodiment, since the vehicle speed pulse signal of the nose adapter 940 may be inaccurate in the low speed range, the vehicle speed threshold information 126 is composed of one vehicle speed threshold. By using the vehicle speed threshold, it is possible to determine that the accuracy of the detection result by the vehicle speed sensor 171 is good when the vehicle speed at which the detection result force by the vehicle speed sensor 171 is greater than the vehicle speed threshold. Yes. Note that the vehicle speed threshold is determined in advance by experiments or the like.

[0050] Control unit 110B is different from control unit 110A in that vehicle speed accuracy detection unit 111B is provided instead of vehicle speed accuracy detection unit 111A. The vehicle speed accuracy detection unit 111B determines whether the accuracy of the detection result by the vehicle speed sensor 171 is good or not based on the vehicle speed threshold information 126 as shown in FIG. The result of this determination is reported to the navigation processing unit 112A.

[0051] <Operation>

Next, the operation of the navigation device 100B configured as described above will be described mainly focusing on the vehicle speed accuracy detection process and the response to the vehicle speed accuracy detection result.

[0052] First, the navigation device 100B, in step S21 of FIG. 11 IB force Vehicle speed V obtained from the detection result of the vehicle speed sensor 171 and vehicle speed threshold information 126

P

Is compared with a vehicle speed threshold value, and it is determined whether or not the accuracy of the detection result by the vehicle speed sensor 171 is good. In step S21, if the vehicle speed V is greater than the vehicle speed threshold, the vehicle

P

It is determined that the accuracy of the detection result by the speed sensor 171 is good. On the other hand, the vehicle speed V is less than the vehicle speed threshold.

P

If it is lower, it is determined that the accuracy of the detection result by the vehicle speed sensor 171 is poor.

[0053] If the result of the determination in step S21 is affirmative (step S21: Y), vehicle speed accuracy detector 111B determines that the accuracy of the detection result by vehicle speed sensor 171 is good, and Report to Yong processing unit 112A. Then, the process proceeds to step S22. In step S22, similarly to step S13 in the first embodiment described above, the navigation processing unit 112A calculates the movement status information using the detection result of the vehicle speed sensor 171 as it is.

[0054] If the result of the determination in step S21 is negative (step S21: N), the vehicle speed accuracy detector 111B determines that the accuracy of the detection result by the vehicle speed sensor 171 is bad, and Report to the navigation processing unit 112A. Then, the process proceeds to step S23. In step S23, similarly to step S14 in the first embodiment described above, the navigation processing unit 112A calculates the movement status information without using the detection result of the vehicle speed sensor 171.

[0055] As described above, in this embodiment, the vehicle speed sensor 171 uses the vehicle speed pulse signal generated by the bus adapter 940 based on the vehicle speed pulse information converted into digital data by the in-vehicle LAN processor 920. To detect the vehicle speed. The accuracy of the detection result by the vehicle speed sensor 171 is determined by comparing the vehicle speed threshold value determined in advance by the vehicle speed accuracy detection unit 111B force experiment and the vehicle speed V that also provides the detection result force by the vehicle speed sensor 171.

P

To detect. Then, as in the case of the first embodiment described above, the navigation processing unit 112A determines whether or not the movement status information is based on the accuracy of the detection result by the vehicle speed sensor 171 based on the previous detection result. Change the information used for calculation. Therefore, according to the present embodiment, it is possible to calculate accurate movement status information.

[0056] Third Embodiment

First, a third embodiment of the present invention will be described with reference to FIGS. This implementation In the description of the embodiment, a navigation device mounted on a vehicle will be described as an example.

[0057] <Configuration>

FIG. 8 is a block diagram showing a schematic configuration of a navigation device 100C as a movement status calculation device according to the present embodiment. As shown in FIG. 8, the navigation device 100C includes a control unit 110C instead of the control unit 110B, as compared with the navigation device 100B of the second embodiment described above, and replaces the storage device 120B. Thus, the difference is that a storage device 120C is provided as a speed range information storage unit and a correction information storage unit.

Here, storage device 120C is different from storage device 120B only in that vehicle speed correction information 127 as correction information is further stored. The vehicle speed correction information 127 is information for correcting the detection result by the vehicle speed sensor 171 when the detection result force by the vehicle speed sensor 171 falls within the vehicle speed range determined to be inaccurate. In this embodiment, the vehicle speed correction information 127 includes the vehicle speed V obtained from the detection result of the vehicle speed sensor 171 as the vehicle speed threshold.

P

At least one correction coefficient force associated with the detection result of the vehicle speed sensor 171 when the value is equal to or smaller than the value is also configured. Here, even if the detection result of the vehicle speed sensor 171 changes, if the correction coefficient does not change, the vehicle speed correction information 127 includes only one correction coefficient. The correction coefficient is determined in advance by experiments or the like.

[0059] The control unit 110C is different from the control unit 110B in that a navigation processing unit 112C is provided instead of the navigation processing unit 112A. As shown in FIG. 9, the navigation processing unit 112C is different from the navigation processing unit 112A in that an autonomous sensor processing unit 115C is provided instead of the autonomous sensor processing unit 115A. This autonomous sensor processing unit 115C refers to the information reported from the GPS receiving unit 160 as appropriate, and detects the detection result reported from the traveling sensor unit 170, which is an autonomous sensor unit, the vehicle speed correction information 127, and the vehicle speed accuracy determination unit. Using the vehicle speed accuracy information reported from 114, the movement status information such as the moving distance of the vehicle is calculated. The calculation result in the autonomous sensor processing unit 115C is reported to the navigation execution unit 116.

[0060] <Operation>

Next, regarding the operation of the navigation device 100C configured as described above, A description will be given mainly focusing on the detection processing of the degree and the response to the detection result of the vehicle speed accuracy.

The navigation device 100C is first obtained from the detection result by the vehicle speed accuracy detection unit 111B force vehicle speed sensor 171 in step S31 of FIG. 10 as in the case of step S21 in the second embodiment described above. The vehicle speed V and the vehicle speed threshold in the vehicle speed threshold information 126.

P

In comparison, it is determined whether or not the accuracy of the detection result by the vehicle speed sensor 171 is good.

[0062] If the result of the determination in step S31 is affirmative (step S31: Y), the vehicle speed accuracy detector 111B determines that the accuracy of the detection result by the vehicle speed sensor 171 is good, and Report to Yon Processing Department 112C. Then, the process proceeds to step S32. In this step S32, similar to step S22 in the second embodiment described above, the detection result of the autonomous sensor processing unit 115C force vehicle speed sensor 171 of the navigation processing unit 112C is used as it is, and the vehicle speed, the moving distance, etc. The situation information is calculated.

[0063] If the result of the determination in step S31 is negative (step S31: N), the vehicle speed accuracy detector 111B determines that the accuracy of the detection result by the vehicle speed sensor 171 is bad, and Report to the navigation processing unit 112C. Then, the process proceeds to step S33. In this step S33, the detection result by the autonomous sensor processing unit 115C force vehicle speed sensor 171 is corrected based on the vehicle speed correction information 127. Specifically, the autonomous sensor processing unit 115C multiplies the detection result by the vehicle speed sensor 171 and the correction coefficient corresponding thereto. Then, the autonomous sensor processing unit 115C uses the correction result of the detection result by the vehicle speed sensor 171 to calculate the movement status information such as the vehicle speed and the movement distance.

[0064] As described above, in this embodiment, the vehicle speed sensor 171 uses the vehicle speed pulse signal generated by the bus adapter 940 based on the vehicle speed pulse information converted into digital data by the in-vehicle LAN processor 920. To detect the vehicle speed. The accuracy of the detection result by the vehicle speed sensor 171 is determined by comparing the vehicle speed threshold value determined in advance by the vehicle speed accuracy detection unit 111B force experiment and the vehicle speed V that also provides the detection result force by the vehicle speed sensor 171.

P

To detect. Then, as in the case of the second embodiment described above, the navigation processing unit 112C determines whether or not the movement status information is based on the accuracy of the detection result by the vehicle speed sensor 171 based on the previous detection result. Change the information used for calculation. Therefore, according to the present embodiment, it is possible to calculate accurate movement status information. [Modification of Embodiment]

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

[0066] For example, in the first to third embodiments described above, the vehicle speed sensor detects the vehicle speed pulse signal reflecting the vehicle speed. However, the vehicle speed sensor reflects the vehicle speed in the in-vehicle LAN system. It is also possible to detect the generated voltage signal.

In the first embodiment described above, the determination reference information calculation unit 113 calculates the determination reference speed and its standard deviation as the determination reference information. However, the accuracy of the detection result by the vehicle speed sensor 171 is not limited. As long as it can be used for pass / fail judgment, other information can be calculated as judgment criterion information.

In the first embodiment described above, the criterion information is calculated based on both the report result from the GPS receiving unit 160 and the detection result by the acceleration sensor 172. However, only one of V and the deviation is calculated. Based on this, you can calculate the criteria information.

[0069] In the first embodiment, only the vehicle speed detection based on the vehicle speed pulse signal from the nos adapter 940 is performed. On the other hand, the second speed detection means that is a vehicle speed detection means that does not use the vehicle speed pulse signal is further provided, and the detection result of the vehicle speed detection means is used to improve the accuracy of the detection result by the vehicle speed sensor 171. You may make it evaluate. Further, when it is determined that the accuracy of the detection result by the vehicle speed sensor 171 is poor, the movement distance or the like may be calculated using the detection result by the second speed detection means. In the second and third embodiments described above, the second speed detection means is further provided, and if it is determined that the accuracy of the detection result by the vehicle speed sensor 171 is poor, the second speed detection means The movement distance or the like may be calculated using the detection result.

In the first embodiment described above, the vehicle speed accuracy determination unit 114 is based on the determination criterion information calculated by the determination criterion information calculation unit 113 for any value detected by the vehicle speed sensor 171. Therefore, the accuracy of the detection result by the vehicle speed sensor 171 is determined. On the other hand, if the vehicle speed range is known, the accuracy of the detection result by the vehicle speed sensor 171 may be deteriorated. If the vehicle speed obtained by the detection result force by the vehicle speed sensor 171 enters the vehicle speed range. Only, the vehicle speed accuracy determination unit 114 can determine whether the accuracy of the detection result by the vehicle speed sensor 171 based on the criterion information is good or bad. The

[0071] Further, a modification similar to the modification of the second embodiment to the third embodiment can be applied to the first embodiment.

[0072] In the first to third embodiments, the period when the accuracy of the detection result by the vehicle speed sensor 171 is determined to be poor and the determination that the accuracy of the detection result by the vehicle speed sensor 171 is poor start to be made. Based on the vehicle speed, the travel distance during the travel period may be calculated in the same manner as in the conventional example described above!

In the first to third embodiments, the case where the present invention is applied to a navigation device mounted on a vehicle has been described. However, the present invention is mounted on a moving body other than a vehicle such as a ship or an aircraft. The present invention can also be applied to a navigation device to be mounted.

Note that the control units 110A and 110B in the first to third embodiments described above are a central processing unit (CPU: Central Processing Unit), a read only memory (ROM), a random access memory (RAM: Random). It may be configured as a computer as a calculation means including an Access Memory) and the processing in the first to third embodiments described above may be executed by a computer prepared in advance! These programs are recorded on a computer-readable recording medium such as a hard disk, CD-ROM, or DVD, and the recording medium is read by the computer and executed. In addition, these programs 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. Let ’s do it.

Claims

The scope of the claims

[1] Speed detecting means for detecting the speed of the moving body based on the specific speed information signal converted into a predetermined signal form after being digitalized;

Movement-related information detecting means for detecting information related to movement of the moving body without using the specific speed information signal;

A determination means for determining whether the accuracy of the detection result by the speed detection means is within an allowable range;

When the result of the determination is affirmative, movement status information is calculated using the detection result of the speed detection unit as it is, and when the result of the determination is negative, the detection by the speed detection unit is performed. A movement situation calculation device comprising: movement situation information calculation means for calculating the movement situation information using information different from the result itself.

[2] The movement status calculation device according to claim 1, wherein the specific speed information signal is a pulse train signal in which the number of pulses per unit time reflects the speed.

[3] The movement related information detection means includes: an acceleration detection means for detecting an acceleration of the mobile body; a second speed detection means that is a means for detecting the speed of the mobile body and is different from the speed detection means; The movement status calculation apparatus according to claim 1 or 2, further comprising at least one GPS signal receiving means for receiving a GPS satellite force signal.

[4] The determination unit includes a determination criterion information calculation unit that calculates determination criterion information based on at least one detection result by the movement related information detection unit, and performs the determination based on the determination criterion information. The movement status calculation device according to any one of claims 1 to 3, wherein the movement status calculation device is described above.

[5] It further comprises speed range information storage means for storing speed range information that can be determined that the accuracy of the detection result by the speed detection means is poor,

The movement status calculation apparatus according to any one of claims 1 to 3, wherein the determination unit performs the determination based on information on the speed range.

[6] If the result of the determination is negative, the movement status information calculation means uses the detection result by the movement related information detection means without using the detection result by the speed detection means. The travel status information is calculated, any one of claims 1 to 5, The movement status calculation apparatus according to claim 1.

[7] The apparatus further comprises correction information storage means for storing correction information for correcting the detection result of the speed detection means,

When the result of the determination is negative, the movement status information calculation means calculates the movement status information using a result obtained by correcting the detection result by the speed detection means based on the correction information. The movement status calculation device according to any one of claims 1 to 5, wherein:

[8] A speed detection step of detecting the speed of the moving body based on the specific speed information signal converted into a predetermined signal form after being digitalized;

A determination step of determining whether the accuracy of the detection result in the speed detection means is within an allowable range;

When the determination result is affirmative, the detection result in the speed detection step is used as it is, the first movement state information calculation step for calculating the movement state information of the moving body, and the determination result is negative. A second movement situation information calculation step for calculating the movement situation information using information different from the detection result in the speed detection step.

[9] A moving situation calculation program characterized by causing the computing means of the moving situation calculation apparatus to execute the movement situation calculation method according to claim 8.

[10] A recording medium in which the movement status calculation program according to claim 9 is recorded so as to be readable by the calculation means of the movement status calculation device.