WO2008140146A1 - Method and apparatus for decide turn condition using sensor - Google Patents

Method and apparatus for decide turn condition using sensor Download PDF

Info

Publication number
WO2008140146A1
WO2008140146A1 PCT/KR2007/003057 KR2007003057W WO2008140146A1 WO 2008140146 A1 WO2008140146 A1 WO 2008140146A1 KR 2007003057 W KR2007003057 W KR 2007003057W WO 2008140146 A1 WO2008140146 A1 WO 2008140146A1
Authority
WO
WIPO (PCT)
Prior art keywords
acceleration sensor
moving object
turning state
signal
respect
Prior art date
Application number
PCT/KR2007/003057
Other languages
French (fr)
Inventor
Kwon Soo Lee
Yong Kwan Park
Original Assignee
Thinkware Systems Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thinkware Systems Corporation filed Critical Thinkware Systems Corporation
Priority to CN2007800537325A priority Critical patent/CN101743574B/en
Priority to EP07747086.2A priority patent/EP2158580B1/en
Priority to US12/599,811 priority patent/US8296015B2/en
Priority to AU2007353183A priority patent/AU2007353183A1/en
Publication of WO2008140146A1 publication Critical patent/WO2008140146A1/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
    • B60G17/01908—Acceleration or inclination sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
    • B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/16—GPS track data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/90—Single sensor for two or more measurements
    • B60G2401/902—Single sensor for two or more measurements the sensor being an xy axis sensor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
    • B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/16—Running
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/24—Steering, cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/91—Suspension Control
    • B60G2800/912—Attitude Control; levelling control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/36—Global Positioning System [GPS]

Definitions

  • the present invention relates to a navigation system, and more particularly, to a method and apparatus for determining a straight-driving state or a turning state of a moving object using an acceleration sensor.
  • a navigation system is a system which provides information for driving of a transportation device such as a vehicle by using an artificial satellite.
  • the navigation system is automatic.
  • a typical navigation system is configured into one terminal and includes a storage medium to store map data. Also, the navigation system includes a Global Positioning System (GPS) receiver to receive GPS signals.
  • GPS Global Positioning System
  • the navigation system calculates a location of a vehicle, informs a user of a current location of the vehicle based on the calculated location of the vehicle. Also, the navigation system routes an optimal path from the current location to the user's desired destination and guides the user to the desired location, providing the user with various types of associated information along the path.
  • a method of calculating a location of a vehicle receives location data from a GPS satellite using a GPS receiver, and calculates the current location of the vehicle based on the received location data.
  • Another method of calculating a location of a vehicle calculates the current location of the vehicle using a gyro sensor and an acceleration sensor, which are installed in the vehicle.
  • the other method receives GPS signals, calculates the current location of the vehicle based on the received GPS signals, and corrects the calculated current location based on results detected by the gyro sensor and the acceleration sensor.
  • An at least two-axis acceleration sensor is included to determine whether the vehicle is turning left or right.
  • An aspect of the present invention provides a method and apparatus for determining a turning state which can reduce a burden to match each axis of a sensor in order to determine whether a moving object is in a straight-driving state or in a turning state.
  • An aspect of the present invention also provides a new method and apparatus for determining a turning state which can more accurately determine a driving direction of a moving object, such as a straight-driving direction, a left-turning direction, a right- turning direction, and the like.
  • a method of determining a driving state using a sensor including: reading sensor output signals of different axes from an acceleration sensor while a moving object is being driven wherein the acceleration sensor is an at least two axes acceleration sensor and detects an acceleration of the moving object; and comparing the read sensor output signals of the different axes and determining whether the moving object is in a straight- driving state or in a turning state.
  • an apparatus for determining a turning state using a sensor including: an acceleration sensor including at least two axes to detect an acceleration according to a driving direction of a moving object and outputting sensor output signals of different axes while the moving object is being driven; and a determination unit comparing the sensor output signals of the different axes, output from the acceleration sensor, and determining whether the moving object is in a straight-driving state or in a left-turning state or in a right-turning state.
  • the present invention it is possible to accurately determine a straight-driving state or a left/right-turning state of the moving object, without an acceleration sensor to detect an acceleration of a moving object being affected by an installation environment.
  • FIG. 1 illustrates a configuration of an apparatus for determining a turning state using a sensor according to an exemplary embodiment of the present invention
  • FIG. 2 is a flowchart illustrating a method of determining a turning state using a sensor according to an exemplary embodiment of the present invention
  • FIG. 3 is a graph illustrating an output signal of an acceleration sensor depending on a straight-driving state or a turning state of a moving object.
  • FIG. 1 illustrates a configuration of an apparatus for determining a turning state using a sensor according to an exemplary embodiment of the present invention
  • FIG. 2 is a flowchart illustrating a method of determining a turning state using a sensor according to an exemplary embodiment of the present invention.
  • the turning state determining apparatus is applied to a navigation device which includes a Global Positioning System (GPS) receiver 10.
  • GPS Global Positioning System
  • the GPS receiver 10 receives location signals from at least three GPS satellites and calculates a location of the navigation device based on the received location signals.
  • the navigation device may be a type of a portable navigation device (PND).
  • PND portable navigation device
  • the navigation device may include an acceleration sensor.
  • the navigation device may calculate a current location of a moving object from GPS signals received by the GPS receiver 10, and correct the calculated current location based on signals that are detected by the acceleration sensor, and the like.
  • the turning state determining apparatus detects an acceleration with respect to a driving direction of the moving object and an acceleration with respect to a left/right direction of the moving object while the moving object is being driven, and then determines whether the moving object is in the straight- driving state or in the left/right-turning state based on a comparison between the detected accelerations with respect to the driving direction and the left/right direction.
  • the turning state determining apparatus includes an acceleration sensor 20 to detect the acceleration of the moving object, a signal processing unit 30 to process a signal of the acceleration sensor 20, and a determination unit 40 to determine the straight-driving state or the turning state of the moving object based on an output signal of the acceleration sensor 20.
  • the acceleration sensor 20 uses an at least two-axis acceleration sensor, and outputs a sensor output signal with respect to each of the axes.
  • an acceleration sensor signal of an axis corresponding to the driving direction of the moving object it may be desirable to use both an acceleration sensor signal of an axis corresponding to the driving direction of the moving object and an acceleration sensor signal of an axis corresponding to the left/right direction.
  • the acceleration sensor 20 is a three- axis acceleration sensor, it is possible to filter only an acceleration sensor signal of an axis corresponding to each of the driving direction and the left/right direction and use the filtered acceleration sensor signals.
  • one axis of the two axes of the acceleration sensor 20 matches with respect to the driving direction of the moving object, and another axis of the acceleration sensor 20 matches with respect to the left/right direction of the moving object.
  • acceleration sensor signals of axes corresponding to the driving direction and the left/right direction respectively are used together to not affect the installation method of a navigation device in the moving object.
  • the acceleration sensor 20 outputs an analog signal and thus the determination unit 40 may need to convert the analog signal into a recognizable digital signal.
  • the signal processing unit 30 receives a sensor output signal of each axis of the acceleration sensor 20, converts the sensor output signal into a digital signal which is recognizable by the determination unit 40, and then transfers the converted sensor output signals to the determination unit 40.
  • the signal processing unit 30 may be an analog-to-digital (A/D) converter which converts an analog signal, which is an input signal, into a digital signal corresponding to a level of the analog signal.
  • A/D analog-to-digital
  • the determination unit 40 may receive sensor output signals of the axes of the acceleration sensor 20, and determine whether the moving object is in the straight- driving state or in the turning state by using the received sensor output signals.
  • the determination unit 40 periodically receives an acceleration sensor signal of each axis of the acceleration sensor 20 from the signal processing unit 30, and determines whether the moving object is in the straight-driving state or in the turning state based on the comparison result between the acceleration sensor signals of the different axes.
  • information about the straight-driving state or the turning state of the moving object which is determined by the determination unit 40, may be used as information when the navigation device calculates the current location of the moving object or when the navigation device guides a user along a path to a destination designated by the user.
  • control unit 40 includes a path guidance function and controls the overall operations of the navigation device.
  • a navigation device installed in the moving object reads a sensor output signal that is output from the acceleration sensor 20.
  • the method periodically reads an acceleration sensor signal Y of an axis corresponding to a driving direction of the moving object (hereinafter, referred to as 'driving directional sensor signal'), among sensor output signals of the acceleration sensor 20. Also, the driving directional sensor signal Y is synchronized and thereby an acceleration sensor signal X of an axis corresponding to a left/right direction of the moving object (hereinafter, referred to as 'left/right directional sensor signal') is read.
  • the method calculates an absolute value
  • the method sums up the driving directional sensor signal Y with the left/right directional sensor signal X and calculates a level difference value X - Y between the signals X and Y.
  • FIG. 3 is a graph illustrating an output signal of an acceleration sensor in a straight-driving state or in a turning state.
  • the acceleration sensor 20 when the moving object is being driven straight, the acceleration sensor 20 outputs an acceleration value (sensor value) which is greater in an axis corresponding to the driving direction than in an axis corresponding to the left/right-turning direction at all times. Also, when the moving object is being turned left or right, the acceleration sensor 20 outputs an acceleration value which is greater than in the axis corresponding to the left/right- turning direction than in the axis corresponding to the driving direction at all times.
  • the navigation device may be installed inclined towards one side, the above characteristic of the acceleration sensor 20 shows similar results to when comparing the driving directional sensor signal and the left/right directional sensor signal.
  • the turning state is the left-turning state or the right-turning state.
  • the determination is performed by using a level difference value X - Y between the calculated left/right directional sensor signal X and the driving direction sensor signal Y.
  • the determination condition about the straight-driving state or the turning state and the determination condition about the right-turning state or the left-turning state may be set to be opposite to the above-described condition based on the internal characteristic of the acceleration sensor 20 or a type of the acceleration sensor 20.
  • a straight-driving state or a turning state of a moving object is determined by using an acceleration sensor output value of an axis corresponding to each of a left/right direction and a driving direction of the moving object.
  • the exemplary embodiments of the present invention include computer-readable media including program instructions to implement various operations embodied by a computer.
  • the media may also include, alone or in combination with the program instructions, data files, data structures, tables, and the like.
  • the media and program instructions may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well known and available to those having skill in the computer software arts.
  • Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM disks; magneto-optical media such as floptical disks; and hardware devices that are specially configured to store and perform program instructions, such as readonly memory devices (ROM) and random access memory (RAM).
  • Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter.
  • a new method of determining a turning state which can determine a straight-driving state or a turning state of a moving object by using acceleration values of two axes of an acceleration sensor corresponding to a left/right direction and a driving direction respectively.
  • a left/right-turning state of a moving object is determined by using acceleration values of two axes, an installation state of a navigation device in a vehicle is not significantly affected. Accordingly, it is possible to reduce burden about the inaccurate installation of the navigation terminal. Also, even when the navigation terminal is inaccurately installed, it is possible to reduce an error about determination of a driving direction of the moving object.
  • acceleration values of two axes corresponding to a left/right direction and a driving direction of a moving object are considered, it is possible to more accurately determine whether the moving object is in a straight-driving state or in a turning state. Accordingly, it is possible to improve reliability about a navigation device.

Landscapes

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

Abstract

A method and apparatus of determining a straight-driving state or a turning state of a moving object using an acceleration sensor are provided. The method of determining a turning state using a sensor includes: reading sensor output signals of different axes from an acceleration sensor while a moving object is being driven wherein the acceleration sensor is an at least two axes acceleration sensor and detects an acceleration of the moving object; and comparing the read sensor output signals of the different axes and determining whether the moving object is in a straight-driving state or in a turning state.

Description

METHOD AND APPARATUS FOR DECIDE TURN CONDITION USING
SENSOR
Technical Field The present invention relates to a navigation system, and more particularly, to a method and apparatus for determining a straight-driving state or a turning state of a moving object using an acceleration sensor.
Background Art Generally, a navigation system is a system which provides information for driving of a transportation device such as a vehicle by using an artificial satellite. The navigation system is automatic.
A typical navigation system is configured into one terminal and includes a storage medium to store map data. Also, the navigation system includes a Global Positioning System (GPS) receiver to receive GPS signals.
The navigation system calculates a location of a vehicle, informs a user of a current location of the vehicle based on the calculated location of the vehicle. Also, the navigation system routes an optimal path from the current location to the user's desired destination and guides the user to the desired location, providing the user with various types of associated information along the path.
A method of calculating a location of a vehicle receives location data from a GPS satellite using a GPS receiver, and calculates the current location of the vehicle based on the received location data.
Another method of calculating a location of a vehicle calculates the current location of the vehicle using a gyro sensor and an acceleration sensor, which are installed in the vehicle. In this instance, the other method receives GPS signals, calculates the current location of the vehicle based on the received GPS signals, and corrects the calculated current location based on results detected by the gyro sensor and the acceleration sensor. An at least two-axis acceleration sensor is included to determine whether the vehicle is turning left or right. In this instance, it is possible to completely match one axis of the two axes of the acceleration sensor with a driving direction of the vehicle and match another axis of the acceleration sensor with a left/right direction of the vehicle, and thereby read only a value of a sensor corresponding to the left/right axis and determine a turning direction of the vehicle.
In the case of the method of determining the turning direction, when an installation method in a vehicle is not fixed such as a portable navigation device (PND), it is difficult to accurately install the PND by matching axes of a sensor with the driving direction of the vehicle and the left/right direction of the vehicle respectively. Also, when the user is required to accurately install the PND for the accurate operation, it may create some burdens for the user. If a navigation device is not accurately installed, it may be determined the vehicle is turning even though the vehicle is in a straight-driving state. Also, it may be determined the vehicle is not turning even though the vehicle is in a turning state. Specifically, accurate determination may not be performed.
Specifically, in the above method, when only one axis of a sensor matching the left/right direction is used, for example, when a sensor value of a corresponding axis has a positive value, it is determined the vehicle is in a right-turning state. Conversely, when the sensor value has a negative value, it is determined the vehicle is in a left- turning state. Specifically, since a comparatively radical method is used, the installation method in the vehicle may be significantly affected. Also, data obtained from the sensor may be inaccurate.
Disclosure of Invention Technical Goals
An aspect of the present invention provides a method and apparatus for determining a turning state which can reduce a burden to match each axis of a sensor in order to determine whether a moving object is in a straight-driving state or in a turning state.
An aspect of the present invention also provides a new method and apparatus for determining a turning state which can more accurately determine a driving direction of a moving object, such as a straight-driving direction, a left-turning direction, a right- turning direction, and the like. Technical solutions
According to an aspect of the present invention, there is provided a method of determining a driving state using a sensor, the method including: reading sensor output signals of different axes from an acceleration sensor while a moving object is being driven wherein the acceleration sensor is an at least two axes acceleration sensor and detects an acceleration of the moving object; and comparing the read sensor output signals of the different axes and determining whether the moving object is in a straight- driving state or in a turning state.
According to another aspect of the present invention, there is provided an apparatus for determining a turning state using a sensor, the apparatus including: an acceleration sensor including at least two axes to detect an acceleration according to a driving direction of a moving object and outputting sensor output signals of different axes while the moving object is being driven; and a determination unit comparing the sensor output signals of the different axes, output from the acceleration sensor, and determining whether the moving object is in a straight-driving state or in a left-turning state or in a right-turning state.
According to the present invention, it is possible to accurately determine a straight-driving state or a left/right-turning state of the moving object, without an acceleration sensor to detect an acceleration of a moving object being affected by an installation environment.
Brief Description of Drawings
FIG. 1 illustrates a configuration of an apparatus for determining a turning state using a sensor according to an exemplary embodiment of the present invention; FIG. 2 is a flowchart illustrating a method of determining a turning state using a sensor according to an exemplary embodiment of the present invention; and
FIG. 3 is a graph illustrating an output signal of an acceleration sensor depending on a straight-driving state or a turning state of a moving object.
Best Mode for Carrying Out the Invention
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. The embodiments are described below in order to explain the present invention by referring to the figures.
FIG. 1 illustrates a configuration of an apparatus for determining a turning state using a sensor according to an exemplary embodiment of the present invention, and FIG. 2 is a flowchart illustrating a method of determining a turning state using a sensor according to an exemplary embodiment of the present invention.
Referring to FIG. 1 , a turning state determining apparatus will be described in detail.
The turning state determining apparatus is applied to a navigation device which includes a Global Positioning System (GPS) receiver 10. The GPS receiver 10 receives location signals from at least three GPS satellites and calculates a location of the navigation device based on the received location signals. The navigation device may be a type of a portable navigation device (PND).
The navigation device may include an acceleration sensor. In this instance, the navigation device may calculate a current location of a moving object from GPS signals received by the GPS receiver 10, and correct the calculated current location based on signals that are detected by the acceleration sensor, and the like.
The turning state determining apparatus according to the present invention detects an acceleration with respect to a driving direction of the moving object and an acceleration with respect to a left/right direction of the moving object while the moving object is being driven, and then determines whether the moving object is in the straight- driving state or in the left/right-turning state based on a comparison between the detected accelerations with respect to the driving direction and the left/right direction.
For the above operation, as shown in FIG. 1, the turning state determining apparatus includes an acceleration sensor 20 to detect the acceleration of the moving object, a signal processing unit 30 to process a signal of the acceleration sensor 20, and a determination unit 40 to determine the straight-driving state or the turning state of the moving object based on an output signal of the acceleration sensor 20.
In the present invention, the acceleration sensor 20 uses an at least two-axis acceleration sensor, and outputs a sensor output signal with respect to each of the axes.
Particularly, to detect the straight-driving state or the turning state of the moving object, it may be desirable to use both an acceleration sensor signal of an axis corresponding to the driving direction of the moving object and an acceleration sensor signal of an axis corresponding to the left/right direction. When the acceleration sensor 20 is a three- axis acceleration sensor, it is possible to filter only an acceleration sensor signal of an axis corresponding to each of the driving direction and the left/right direction and use the filtered acceleration sensor signals.
For the above operation, one axis of the two axes of the acceleration sensor 20 matches with respect to the driving direction of the moving object, and another axis of the acceleration sensor 20 matches with respect to the left/right direction of the moving object. According to the present invention, when determining the straight-driving state or the turning state of the moving object, acceleration sensor signals of axes corresponding to the driving direction and the left/right direction respectively are used together to not affect the installation method of a navigation device in the moving object.
Also, the acceleration sensor 20 outputs an analog signal and thus the determination unit 40 may need to convert the analog signal into a recognizable digital signal. For the above operation, the signal processing unit 30 receives a sensor output signal of each axis of the acceleration sensor 20, converts the sensor output signal into a digital signal which is recognizable by the determination unit 40, and then transfers the converted sensor output signals to the determination unit 40. The signal processing unit 30 may be an analog-to-digital (A/D) converter which converts an analog signal, which is an input signal, into a digital signal corresponding to a level of the analog signal.
The determination unit 40 may receive sensor output signals of the axes of the acceleration sensor 20, and determine whether the moving object is in the straight- driving state or in the turning state by using the received sensor output signals.
Specifically, the determination unit 40 periodically receives an acceleration sensor signal of each axis of the acceleration sensor 20 from the signal processing unit 30, and determines whether the moving object is in the straight-driving state or in the turning state based on the comparison result between the acceleration sensor signals of the different axes.
In this instance, information about the straight-driving state or the turning state of the moving object, which is determined by the determination unit 40, may be used as information when the navigation device calculates the current location of the moving object or when the navigation device guides a user along a path to a destination designated by the user.
Also, it is possible to implement all the control operations of the determination unit 40 using a control unit, without including a separate unit corresponding to the determination unit 40. The control unit includes a path guidance function and controls the overall operations of the navigation device.
Hereinafter, a method of determining, by the determination unit 40, a straight- driving state or a turning state of a moving object using the acceleration sensor 20 will be described in detail with reference to FIG. 2.
Referring to FIG. 2, while the moving object is being driven, a navigation device installed in the moving object reads a sensor output signal that is output from the acceleration sensor 20.
In operation SlO, the method periodically reads an acceleration sensor signal Y of an axis corresponding to a driving direction of the moving object (hereinafter, referred to as 'driving directional sensor signal'), among sensor output signals of the acceleration sensor 20. Also, the driving directional sensor signal Y is synchronized and thereby an acceleration sensor signal X of an axis corresponding to a left/right direction of the moving object (hereinafter, referred to as 'left/right directional sensor signal') is read.
Also, the method calculates an absolute value |Y| of the read driving directional sensor signal Y and an absolute value |X| of the read left/right directional sensor signal
X. Also, the method sums up the driving directional sensor signal Y with the left/right directional sensor signal X and calculates a level difference value X - Y between the signals X and Y.
FIG. 3 is a graph illustrating an output signal of an acceleration sensor in a straight-driving state or in a turning state. As shown in FIG. 3, when the moving object is being driven straight, the acceleration sensor 20 outputs an acceleration value (sensor value) which is greater in an axis corresponding to the driving direction than in an axis corresponding to the left/right-turning direction at all times. Also, when the moving object is being turned left or right, the acceleration sensor 20 outputs an acceleration value which is greater than in the axis corresponding to the left/right- turning direction than in the axis corresponding to the driving direction at all times. Thus, even though the navigation device may be installed inclined towards one side, the above characteristic of the acceleration sensor 20 shows similar results to when comparing the driving directional sensor signal and the left/right directional sensor signal.
Based on the comparison between the driving directional sensor signal Y and the left/right directional sensor signal X using the characteristic of the acceleration sensor 20, it is determined whether the moving object is in the straight-driving state or the left/right-turning state. In operation S20, it is determined whether the absolute value |Y| of the driving directional sensor signal Y is greater than the absolute value |X| of the left/right directional sensor signal X.
When the absolute value |Y| of the driving directional sensor signal Y is greater than the absolute value |X| of the left/right directional sensor signal X in operation S20, it is determined the moving object is in the straight-driving state in operation S30,.
Conversely, when the absolute value |X| of the left/right directional sensor signal X is greater than the absolute value |Y| of the driving directional sensor signal Y in operation S20, it is determined the moving object is in the turning state.
When the moving object is in the turning state, it is determined whether the turning state is the left-turning state or the right-turning state. The determination is performed by using a level difference value X - Y between the calculated left/right directional sensor signal X and the driving direction sensor signal Y.
In operation S40, it is determined whether the level difference value X - Y between the left/right directional sensor signal X and the driving directional sensor signal Y has a positive value.
When the level difference value X - Y has the positive value as a result of the determination in operation S40, it is determined the moving object is in the right-turning state in operation S50. Conversely, when the level difference value X - Y has a negative value, it is determined the moving object is in the left-turning state in operation S60.
The determination condition about the straight-driving state or the turning state and the determination condition about the right-turning state or the left-turning state may be set to be opposite to the above-described condition based on the internal characteristic of the acceleration sensor 20 or a type of the acceleration sensor 20.
Therefore, according to the present invention, to reduce effects according to the installation state of a navigation device in a vehicle, a straight-driving state or a turning state of a moving object is determined by using an acceleration sensor output value of an axis corresponding to each of a left/right direction and a driving direction of the moving object.
The exemplary embodiments of the present invention include computer-readable media including program instructions to implement various operations embodied by a computer. The media may also include, alone or in combination with the program instructions, data files, data structures, tables, and the like. The media and program instructions may be those specially designed and constructed for the purposes of the present invention, or they may be of the kind well known and available to those having skill in the computer software arts. Examples of computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM disks; magneto-optical media such as floptical disks; and hardware devices that are specially configured to store and perform program instructions, such as readonly memory devices (ROM) and random access memory (RAM). Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter.
According to the present invention, there is provided a new method of determining a turning state which can determine a straight-driving state or a turning state of a moving object by using acceleration values of two axes of an acceleration sensor corresponding to a left/right direction and a driving direction respectively.
Particularly, since a left/right-turning state of a moving object is determined by using acceleration values of two axes, an installation state of a navigation device in a vehicle is not significantly affected. Accordingly, it is possible to reduce burden about the inaccurate installation of the navigation terminal. Also, even when the navigation terminal is inaccurately installed, it is possible to reduce an error about determination of a driving direction of the moving object.
According to the present invention, since acceleration values of two axes corresponding to a left/right direction and a driving direction of a moving object are considered, it is possible to more accurately determine whether the moving object is in a straight-driving state or in a turning state. Accordingly, it is possible to improve reliability about a navigation device.
Although a few embodiments of the present invention have been shown and described, the present invention is not limited to the described embodiments. Instead, it would be appreciated by those skilled in the art that changes may be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method of determining a driving state using a sensor, the method comprising: reading sensor output signals of different axes from an acceleration sensor while a moving object is being driven wherein the acceleration sensor is an at least two axes acceleration sensor and detects an acceleration of the moving object; and comparing the read sensor output signals of the different axes and determining whether the moving object is in a straight-driving state or in a turning state.
2. The method of claim 1, wherein one axis of the at least two axes of the acceleration sensor outputs an acceleration sensor signal Y with respect to a driving direction of the moving object, and another axis of the acceleration sensor outputs an acceleration signal X with respect to a left/right direction of the moving object.
3. The method of claim 2, wherein the reading of the sensor output signals comprises: periodically reading the acceleration sensor signal Y with respect to the driving direction while the moving object is being driven; and being synchronized with the acceleration sensor signal Y with respect to the driving direction and thereby reading the acceleration sensor signal X with respect to the left/right direction.
4. The method of claim 2, wherein the comparing and the determining comprises: calculating an absolute value |Y| of the acceleration sensor signal Y with respect to the driving direction and an absolute value |X| of the acceleration sensor signal X with respect to the left/right direction; and determining whether the moving object is in the straight-driving state or in the turning state based on a size comparison between the calculated absolute values |Y| and |X|.
5. The method of claim 4, wherein the determining whether the moving object is in the straight-driving state or in the turning state comprises: determining the moving object is in the straight-driving state when the absolute value |Y| of the acceleration sensor signal Y with respect to the driving direction is greater than the absolute value |X| of the acceleration sensor signal X with respect to the left/right direction; and determining the moving object is in the turning state when the absolute value |X| of the acceleration sensor signal X with respect to the left/right direction is greater than the absolute value |Y| of the acceleration sensor signal Y with respect to the driving direction, and determining the turning state of the moving object by using a level difference value X - Y between the acceleration sensor signals X and Y.
6. The method of claim 5, wherein the determining the turning state of the moving object comprises: determining whether the moving object is in a right-turning state or in a left- turning state depending on whether the level difference value is a positive number or a negative number.
7. The method of claim 6, wherein the determining whether the moving object is in the right-turning state or in the left-turning state comprises: determining the moving object is in the right-turning state when the level difference value has a positive value; and determining the moving object is in the left-turning state when the level difference value has a negative value.
8. A computer-readable recording medium storing a program for implementing the method according to any one of claims 1 through 7.
9. An apparatus for determining a turning state using a sensor, the apparatus comprising: an acceleration sensor including at least two axes to detect an acceleration according to a driving direction of a moving object and outputting sensor output signals of different axes while the moving object is being driven; and a determination unit comparing the sensor output signals of the different axes, output from the acceleration sensor, and determining whether the moving object is in a straight-driving state or in a left-turning state or in a right-turning state.
10. The apparatus of claim 9, wherein one axis of the at least two axes of the acceleration sensor outputs an acceleration sensor signal Y with respect to a driving direction of the moving object and another axis of the acceleration sensor outputs an acceleration sensor signal X with respect to a left/right direction of the moving object.
11. The apparatus of claim 10, wherein, when the acceleration sensor is a three-axis acceleration sensor including X, Y, and Z axes, the acceleration sensor uses only an acceleration sensor signal corresponding to each of axes with respect to the driving direction of the moving object and the left/right direction of the moving object among the three axes.
12. The apparatus of claim 10, wherein the determination unit determines whether the moving object is in the straight-driving state or in the turning state based on a size comparison between an absolute value |Y| of the acceleration sensor signal Y with respect to the driving direction, and an absolute value |X| of the acceleration sensor signal X with respect to the left/right direction, and determines whether the moving object is in a right-turning state or in a left-turning state by using a level difference value X - Y between the acceleration sensor signals X and Y.
13. The apparatus of claim 9, further comprising: a signal processing unit converting the sensor output signal into a signal, and outputting the converted sensor output signal to the determination unit, wherein the signal is recognizable by the determination unit.
14. The apparatus of claim 13, wherein the signal processing unit is an analog-to- digital (A/D) converter converting the sensor output signal into a digital signal which is in a range recognizable by the determination unit.
PCT/KR2007/003057 2007-05-11 2007-06-25 Method and apparatus for decide turn condition using sensor WO2008140146A1 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
CN2007800537325A CN101743574B (en) 2007-05-11 2007-06-25 Method and apparatus for decide turn condition using sensor
EP07747086.2A EP2158580B1 (en) 2007-05-11 2007-06-25 Method and apparatus for deciding turn condition using a sensor
US12/599,811 US8296015B2 (en) 2007-05-11 2007-06-25 Method and apparatus for decide turn condition using sensor
AU2007353183A AU2007353183A1 (en) 2007-05-11 2007-06-25 Method and apparatus for decide turn condition using sensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020070046084A KR100870091B1 (en) 2007-05-11 2007-05-11 Method and apparatus for decide turn condition using sensor
KR10-2007-0046084 2007-05-11

Publications (1)

Publication Number Publication Date
WO2008140146A1 true WO2008140146A1 (en) 2008-11-20

Family

ID=40002331

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2007/003057 WO2008140146A1 (en) 2007-05-11 2007-06-25 Method and apparatus for decide turn condition using sensor

Country Status (6)

Country Link
US (1) US8296015B2 (en)
EP (1) EP2158580B1 (en)
KR (1) KR100870091B1 (en)
CN (1) CN101743574B (en)
AU (1) AU2007353183A1 (en)
WO (1) WO2008140146A1 (en)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20090001721A (en) * 2007-05-14 2009-01-09 팅크웨어(주) Method for correcting map matching and navigation system implementing the method
JP2014115093A (en) * 2012-12-06 2014-06-26 Casio Comput Co Ltd Gps receiver and program
US9582001B1 (en) 2015-10-07 2017-02-28 X Development Llc Motor system for vehicle steering and locomotion
CN105799709B (en) * 2016-03-10 2018-10-26 深圳市元征科技股份有限公司 The recognition methods of vehicle zig zag and device
CN105953793A (en) * 2016-04-21 2016-09-21 深圳市元征科技股份有限公司 Identification method and apparatus for sharp turn of vehicle
CN108692730B (en) * 2018-05-21 2021-08-10 同济大学 Pedestrian steering identification method applied to inertial navigation
CN110672099A (en) * 2019-09-09 2020-01-10 武汉元生创新科技有限公司 Course correction method and system for indoor robot navigation

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6454036B1 (en) * 2000-05-15 2002-09-24 ′Bots, Inc. Autonomous vehicle navigation system and method
JP2003312410A (en) 2002-04-23 2003-11-06 Nissan Motor Co Ltd Vehicular warning device
US6725173B2 (en) * 2000-09-02 2004-04-20 American Gnc Corporation Digital signal processing method and system thereof for precision orientation measurements
US6918186B2 (en) * 2003-08-01 2005-07-19 The Charles Stark Draper Laboratory, Inc. Compact navigation system and method
KR20060018311A (en) * 2004-08-24 2006-03-02 엘지전자 주식회사 Compound navigation system
KR20060055920A (en) * 2004-11-19 2006-05-24 우리산업 주식회사 Car navigation system and control method thereof
KR20060111246A (en) * 2005-04-21 2006-10-26 삼성전기주식회사 Method of compensating tilt using two-axis geomagnetic sensor and acceleration sensor, and apparatus thereof

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH051915A (en) * 1991-06-26 1993-01-08 Toshiba Corp Travel-azimuth detector for vehicle
JP3455329B2 (en) * 1995-05-08 2003-10-14 パイオニア株式会社 Car navigation system
JP3248412B2 (en) * 1995-10-18 2002-01-21 トヨタ自動車株式会社 Vehicle behavior control device
DE19844913C2 (en) * 1998-09-30 2003-02-13 Bosch Gmbh Robert Device and method for monitoring a lateral acceleration sensor arranged in a vehicle
KR100451563B1 (en) 1999-08-17 2004-10-06 주식회사 포스코 Width rolling method in hot strip reversing mill
JP3463622B2 (en) * 1999-09-14 2003-11-05 トヨタ自動車株式会社 Vehicle behavior control device
EP1172656B1 (en) * 2000-07-13 2006-04-26 Infineon Technologies SensoNor AS Rotational direction detecting
JP4027031B2 (en) * 2000-11-16 2007-12-26 株式会社コナミデジタルエンタテインメント Competitive 3D video game device
US6718244B2 (en) * 2001-12-28 2004-04-06 Case, Llc Skid steer vehicle having an anti-diving system
KR100525517B1 (en) * 2002-11-06 2005-11-02 (주)마이크로인피니티 Car navigation system and control method thereof
US20060108170A1 (en) * 2002-11-18 2006-05-25 Hiroaki Ishikawa Axle unit with slip sensor and slip meansurement method
KR100585499B1 (en) 2003-09-04 2006-06-07 주식회사 유유 Device and method for measuring azimuth angle using 2-axis magnetic sensor and 2-axis acceleration sensor
JP4268019B2 (en) * 2003-11-14 2009-05-27 株式会社豊田中央研究所 Body motion realizing method and apparatus
US7444224B2 (en) * 2003-11-14 2008-10-28 Nissan Motor Co., Ltd. Lane departure prevention apparatus
US20060100783A1 (en) * 2004-10-21 2006-05-11 Sick Ag Monitoring the surroundings of a vehicle
CN1648952A (en) * 2005-02-02 2005-08-03 天津大学 Acceleration induction automobile running record and warning device
KR101047719B1 (en) * 2005-02-16 2011-07-08 엘지전자 주식회사 Method and device for driving route guidance of moving object in navigation system
JP4534944B2 (en) * 2005-10-07 2010-09-01 トヨタ自動車株式会社 vehicle
US7860634B2 (en) * 2007-09-27 2010-12-28 Hong Kong Applied Science And Technology Research Institute Co., Ltd. Method and apparatus for identification of wheels of a vehicle and a vehicle comprising same

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6454036B1 (en) * 2000-05-15 2002-09-24 ′Bots, Inc. Autonomous vehicle navigation system and method
US6725173B2 (en) * 2000-09-02 2004-04-20 American Gnc Corporation Digital signal processing method and system thereof for precision orientation measurements
JP2003312410A (en) 2002-04-23 2003-11-06 Nissan Motor Co Ltd Vehicular warning device
US6918186B2 (en) * 2003-08-01 2005-07-19 The Charles Stark Draper Laboratory, Inc. Compact navigation system and method
KR20060018311A (en) * 2004-08-24 2006-03-02 엘지전자 주식회사 Compound navigation system
KR20060055920A (en) * 2004-11-19 2006-05-24 우리산업 주식회사 Car navigation system and control method thereof
KR20060111246A (en) * 2005-04-21 2006-10-26 삼성전기주식회사 Method of compensating tilt using two-axis geomagnetic sensor and acceleration sensor, and apparatus thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP2158580A4 *

Also Published As

Publication number Publication date
KR100870091B1 (en) 2008-11-25
AU2007353183A1 (en) 2008-11-20
US20100222956A1 (en) 2010-09-02
CN101743574B (en) 2012-06-13
KR20080100029A (en) 2008-11-14
EP2158580A4 (en) 2013-01-02
EP2158580B1 (en) 2018-01-10
CN101743574A (en) 2010-06-16
US8296015B2 (en) 2012-10-23
EP2158580A1 (en) 2010-03-03

Similar Documents

Publication Publication Date Title
JP4466705B2 (en) Navigation device
JP3793227B2 (en) Satellite-assisted position measurement and navigation device
US8296015B2 (en) Method and apparatus for decide turn condition using sensor
EP0640207B1 (en) Calibration method for a relative heading sensor
EP0844462B1 (en) Method and apparatus for determining the position of a moving object
KR100834723B1 (en) Method and apparatus for decide vertical travel condition using sensor
US6766247B2 (en) Position determination method and navigation device
JP6421764B2 (en) Moving body position detecting device and moving body position detecting method
CN113984049B (en) Method, device and system for estimating flight trajectory of aircraft
US20110015892A1 (en) Method and apparatus for decide travel condition using sensor
EP2146183B1 (en) Navigation apparatus and positioning method thereof
JP4063149B2 (en) Vehicle angular velocity detection device
WO2016185659A1 (en) Mobile-body position detecting apparatus, mobile-body position detecting method
JPH07294622A (en) Method for measuring position of train
JP4738196B2 (en) Method for determining error circle of position calculation device
JP5183050B2 (en) In-vehicle navigation device and navigation method
JP4662158B2 (en) Own vehicle position determination device
JP2023057395A (en) Correction device
KR20090048231A (en) Method for detecting place direction of portable navigation device and apparatus thereof
WO2006109525A1 (en) Navigation device, navigation method, and navigation program
JPH0518769A (en) Azimuth detecting device

Legal Events

Date Code Title Description
WWE Wipo information: entry into national phase

Ref document number: 200780053732.5

Country of ref document: CN

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 07747086

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 12599811

Country of ref document: US

NENP Non-entry into the national phase

Ref country code: DE

WWE Wipo information: entry into national phase

Ref document number: 2007747086

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2007353183

Country of ref document: AU

ENP Entry into the national phase

Ref document number: 2007353183

Country of ref document: AU

Date of ref document: 20070625

Kind code of ref document: A