KR100247438B1 - Map Matching Control Method According to Rotational Driving Information in Vehicle Auto Navigation System - Google Patents

Abstract

The present invention detects the rotational state of the steering wheel when driving the vehicle to correct the driving path in the curved road displayed on the map in response to the degree of rotational driving according to the predetermined driving speed of the vehicle through the map matching operation Provided is a map matching control method according to rotation driving information in an auto navigation system for a vehicle.

To this end, the present invention grasps the absolute circumference of the own vehicle by satellite propagation received from the GPS satellites, and the map data read out from the CD-ROM disc 2 is displayed on the display monitor 42. In the autonomous navigation control method in the autonomous navigation system for the vehicle to monitor and display the driving route 52 of the vehicle, the rotation for the rotational running of the steering wheel 44 detected by the steering wheel rotation detection unit 20 A first step of detecting rotation information of the vehicle by an angle detection signal and a traveling speed detection signal of the vehicle detected by the speed sensor unit 22, and a rotation movement state of the vehicle based on the detected rotation information of the vehicle; A second step of generating a relative driving behavior value that varies according to a predetermined distance section, and generating correction information of a driving route by the relative driving position of each generated predetermined distance section. And characterized by comprising a third step of the display monitor 42 by the matching as the map correction driving path 54 in the map display that appears on the.

Description

Map Matching Control Method According to Rotational Driving Information in Vehicle Auto Navigation System

The present invention relates to a map matching control method according to rotation driving information in an autonomous navigation system for a vehicle, and more particularly, to automatically determine a vehicle's driving position based on a CD-ROM database based on a GPS satellite. In an autonomous navigation system for a vehicle that enables navigation, an autonomous navigation system for a vehicle capable of correcting a driving route displayed on a map of a place name running on the basis of a rotation state and a rotation speed of the vehicle by map matching. The present invention relates to a map matching control method according to rotation driving information.

As is well known, the automatic navigation system which enables the automatic navigation by searching the driving position for various driving means has been mainly applied to a ship or an aircraft, etc. Recently, the road currently applied to a vehicle traveling on the road Various information such as the location of the road, the driving route of the road to be driven, and the road congestion degree can be visually recognized through the monitor.

In such a vehicle's automatic navigation system, by receiving satellite radio waves from a GPS satellite navigating the earth's atmosphere, the current location of the vehicle is detected by calculating a radio wave reception distance from the satellites, and map data covering the whole country is included. It is possible to display the current position detected through the map data of the relevant area from the CD-ROM database, and also detect the mileage determined by the mileage sensing means such as the wheel rotation detection sensor and the azimuth angle detection such as the geomagnetic sensor. By calculating the driving direction by the means, it is possible to display the driving route from the driving start position to the running position on the screen so as to provide information on whether or not the correct driving is performed.

On the other hand, in such a vehicle autonomous navigation system, even if the absolute position coordinates of the own vehicle is detected by radio wave reception from the GPS satellite, the driving distance error of the mileage detection means for detecting the mileage on the driving of the vehicle and the driving direction of the vehicle are detected. The actual position error with the driving road is generated due to the setting error of the azimuth to the azimuth detection means for detecting, and passes through the calibration point set in the map data of the road to correct the position error. Whenever the combination of the shape of the road connecting the test points and the actual road shape calculated by the dead reckoning is shown below the predetermined value, the actual mileage based on the first passing test point Map matching navigation is adopted to allow the correction.

In the map matching navigation method, when a vehicle travels on a curved road on a map, a position difference with respect to a distance sensor error can be corrected by detecting a curved portion of the vehicle and correcting the intersection between a perpendicular intersection point and a refraction point on the road. This map matching process can be achieved by modifying the curvature of the travel trajectory point at which the vehicle is refracted at the intersection point on the road.

However, in the trajectory correction method on the curved road used for the map matching navigation in the vehicle autonomous navigation system, the driving trajectory point can be corrected by grasping the shape of the deflection state at the intersection point formed at a certain angle on the driving road. Therefore, when the actual road has a gentle bend angle or a sharp bend angle, the correction of the bend angle cannot be made accurately in response to the actual driving path, and the vehicle can properly inform the position information of the own vehicle. The disadvantage is that there is no.

Accordingly, the present invention has been made in view of the above circumstances, and the driving path in the curved road displayed on the map in response to the degree of rotational driving according to the predetermined driving speed of the vehicle by detecting the rotational state of the steering wheel when the vehicle is running It is an object of the present invention to provide a map matching control method according to rotation driving information in an autonomous navigation system for a vehicle capable of correcting by using a map matching operation.

In order to achieve the above object, according to the map matching control method according to the rotation driving information in the vehicular auto navigation system according to the present invention, the absolute driving behavior value of the own vehicle is grasped by the satellite radio wave received from the GPS satellite and the CD-ROM In the autonomous navigation control method in an autonomous navigation system for a vehicle for monitoring and displaying a driving route of a vehicle in a state in which map data read from a disc is displayed on a display monitor, the steering wheel rotation sensing unit detects the navigation route. The first step of detecting the rotation information of the vehicle by the rotation angle detection signal for driving the rotation of the steering wheel and the driving speed detection signal of the vehicle detected by the speed sensor unit, and based on the detected rotation information of the vehicle A second step of generating a relative driving behavior variable according to a rotational movement state of the vehicle at predetermined distance sections; And a third step of generating correction information of the driving route according to the generated relative driving positions for each predetermined distance section, and matching and displaying a map as a corrected driving route on a map displayed on the display monitor. It provides a map matching control method according to the rotational driving information in.

According to the present invention configured as described above, the absolute driving position of the own vehicle is determined by the satellite radio wave received from the GPS satellites in the vehicle autonomous navigation system, so that the map data from the CD-ROM disc can be displayed in response to the driving state. In the state of displaying the driving route, the relative driving behavior value is generated for each driving section based on the rotation information calculated by the steering wheel being rotated for the rotation driving and the driving speed at the time of the driving. Through the map matching technique, the correction driving route for correcting the driving route displayed on the display monitor can be displayed through the map matching technique.

1 is a block diagram showing an automatic navigation system for a vehicle to which a map matching control method according to rotational driving information of a vehicle according to the present invention is applied;

2 is a partially enlarged view illustrating an example in which a rotation sensing unit for obtaining rotation driving information of a corresponding vehicle is installed at a steering wheel side according to a preferred embodiment of the present invention;

3 is a schematic diagram illustrating a state of performing map matching to correct a driving route for a curved road based on rotational driving information of a vehicle according to a preferred embodiment of the present invention.

Explanation of symbols on the main parts of the drawings

2: CD-ROM disc, 4: Servo circuit section,

6: signal reading part, 8: reading signal processing part,

10: signal decoder, 12: GPS antenna,

14: GPS receiver, 16: PN code generator,

18: GPS signal processing unit, 20: steering wheel rotation detection unit,

22: speed sensor unit, 24: guess navigation control unit,

26: keypad, 28: GPS control unit,

30: ROM, 32: RAM

34: CPU, 36: interface unit,

38: video memory, 40: monitor display processing section,

42: display monitor.

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

That is, in the drawing, reference numeral 2 denotes a CD-ROM disc having a recording capacity of, for example, 550 megabytes, containing map data for roads covering the whole country, and 4 denotes a CPU 34 of the GPS control unit 28 described later. A servo circuit section for performing servo control for tracking / focusing for the constant speed rotation of the CD-ROM disc 2 and the signal reading operation of the signal reading section 6 by the control operation by means of FIG.

Further, reference numeral 8 denotes a read signal processing unit that performs a processing operation for appropriately extracting an information signal related to map data from the CD-ROM disc 2 read out through the signal reading unit 8, and A signal decoder for decoding the information signal according to the read map data in the form of recognizable data.

In addition, reference numeral 12 denotes a GPS antenna installed in a predetermined portion of the front of the vehicle to induce a GPS signal transmitted from a GPS satellite, and 14 denotes the GPS antenna (the PN code signal generated by the PN code generator 16). 12 shows a GPS receiver for receiving GPS signals from the GPS satellites, and 18 shows a GPS signal processor for recognizing data decoding by performing noise removal and frequency demodulation on the received GPS signals.

In addition, reference numeral 20 denotes a steering wheel rotation detection unit that detects a rotation angle of a steering wheel that is rotated for rotational driving of the vehicle and generates a rotation angle detection signal according thereto, and 22 indicates a driving speed of the vehicle. The speed sensor unit generates a speed detection signal accordingly.

Here, the steering wheel rotation detecting unit 20 is a conductive contact 46 is fixedly attached to a predetermined portion of the rotation axis of the steering wheel 44, as shown in Figure 2, the attachment position of the contact 46 A circular ring 48 is fixedly installed at a corresponding position with a resistance pattern 50 contacting the contact 46 therein, and the resistance pattern 50 is rotated the maximum of the steering wheel 44. It has a predetermined length corresponding to the angle to be attached along the longitudinal direction of the circular ring 48.

Also, reference numeral 24 receives rotation angle detection signals from the steering wheel rotation detection unit 20 and speed detection signals from the speed sensor unit 22 to calculate rotation information inferring the degree of rotation of the vehicle. A dead reckoning control unit is shown.

Reference numeral 26 denotes a keypad provided with a plurality of function keys which are installed at a predetermined portion on an instrument panel provided on the driver's seat side of the vehicle and perform key input for a function necessary for automatic navigation operation through GPS satellites.

Further, reference numeral 28 denotes the CD-ROM by judging the absolute driving behavior value of the own vehicle based on the GPS signal from the GPS satellite provided from the GPS signal processing unit 18 in response to the key input from the keypad 26. A GPS control unit which performs a control process for displaying a traveling position and a driving route on the map data read out from the disc 2, wherein the GPS control unit 28 rotates the vehicle provided from the dead reckoning control unit 24. FIG. As shown in FIG. 3, by receiving rotation information according to the driving degree, a relative driving behavior value is generated for each predetermined driving section such as 5 m, and a corrected driving route connecting the generated relative driving positions is calculated. The control process is performed such that the actual corrected traveling route 54 which is map-matched with respect to the traveling route 52 on the map data displayed on the monitor 42 is displayed on the screen.

Here, the GPS control unit 28 stores ROM 30 and a table of contents data from the CD-ROM disc 2, in which a control program for controlling the determination of the driving position and the display of the driving route by the GPS signal is stored. In addition, based on the various data stored in the RAM 32 by the control program from the RAM 32 and the ROM 30, which temporarily stores data calculated as a result of various sensing and recognition processes, CPU 34 performing calculation processing for determining the travel position, calculating the driving route, and map matching processing, and performing interface processing for various signals and data input from the outside, and calculating the CPU 34 And an interface unit 36 for interface processing so that the result data according to the processing result can be received and operated from the outside.

Reference numeral 38 denotes a video memory in which video data for displaying the driving position and driving route of the own vehicle is displayed on the basis of the map data from the CD-ROM disc 2, and 40 denotes the GPS control unit 28. The monitor display processing unit which performs display processing for displaying on the display monitor 42 the map data of the place name where the vehicle travels and the running route of the own vehicle under the control of the "

Next, the operation of the present invention made as described above will be described in detail with reference to the accompanying drawings.

First, the GPS receiver 14 receives radio waves from the GPS satellites induced by the GPS antenna 12 by the generation of the PN code signal by the PN code generator 16, thereby processing the signal of the GPS signal processor 18. When the current position of the own vehicle is determined under the condition, the GPS control unit 28 controls the servo circuit unit 4 so that the map data of the place name of the place where the own vehicle is located in the map data from the CD-ROM disc 2 is read out of the signal reading unit ( 6) to be decoded by the signal decoder 10 through the signal processing by the read signal processing unit (8).

Accordingly, the GPS control unit 28 reads out the video data of the video memory 38 by the map data read out from the CD-ROM disc 2 and displays the display monitor through the display processing of the monitor display processing unit 40. 42, the driving route 52 according to the continuous driving state of the vehicle is displayed as shown in FIG.

In this state, the steering wheel rotation detection unit 20 detects the rotation angle of the steering wheel 44 according to the running of the curved road of the vehicle through the resistance pattern 50 installed on the contact 46 and the circular ring 48. An angle detection signal is generated, and the speed sensor unit 22 generates a speed detection signal that detects the traveling speed of the own vehicle, while the dead reckoning control unit 24 corresponds to the angle detection signal and the speed detection signal. Rotation information for calculating the actual degree of rotation of the vehicle is generated.

On the other hand, the GPS control unit 28 receives the data of the rotation information from the dead reckoning control unit 24 through the interface unit 36 and performs arithmetic processing through the CPU 34 from the video memory 38. By reading and processing the video data, the correction driving path 54 for correcting the path is displayed on the driving path 52 displayed on the map data as shown in FIG. 3.

According to the present invention made as described above, in the automatic navigation function through the GPS satellites of the vehicle, the driving path on the map data can be corrected by the map matching operation based on the rotation information according to the driving of the curved road of the vehicle. Therefore, the driving path of the vehicle can be more accurately calculated regardless of the angle of the bend.

Claims (1)

Driving of the vehicle in a state where map data of a predetermined place, which is read from the CD-ROM disc 2, is displayed on the display monitor 42 by grasping the absolute circumference of the own vehicle by satellite radio waves received from the GPS satellites. In the autonomous navigation control method in an autonomous navigation system for a vehicle for monitoring and displaying a path 52, The rotation information of the vehicle is detected by the rotation angle detection signal for driving the rotation of the steering wheel 44 detected by the steering wheel rotation detection unit 20 and the driving speed detection signal of the vehicle detected by the speed sensor unit 22. Detecting the first step, A second step of generating, based on the detected rotation information of the vehicle, a relative action value variable according to the rotation movement state of the vehicle at every predetermined distance section; Comprising a third step of generating the correction information of the driving route by the generated relative driving position for each predetermined distance section to map and display as the corrected driving route 54 on the map appearing on the display monitor 42 Map matching control method according to the rotational driving information in the vehicle automatic navigation system, characterized in that.

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