Angular velocity detection device

• US 20040204798A1
• Filed: 02/04/2004
• Published: 10/14/2004
• Est. Priority Date: 02/04/2003
• Status: Active Grant

• Current Assignee: Pioneer Corporation
• Original Assignee: Pioneer Corporation
• Inventors: Goto, Seiji, Endo, Isao, Imada, Seiji
• Granted Patent: US 6,895,313 B2
• Time in Patent Office: Days
• US Class Current: 701/1
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

An angular velocity detection device includes an angular velocity detector for delivering a first sensor output corresponding to an angular velocity of a mobile unit; a learning unit for learning a sensitivity coefficient in accordance with the first sensor output and an output provided by a GPS positioning unit; an acceleration detector for delivering a second sensor output corresponding to an acceleration of the mobile unit; a sensitivity coefficient correction unit for determining a corrected sensitivity coefficient in accordance with the sensitivity coefficient and the second sensor output; and an angular velocity converter for multiplying the first sensor output by the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit. The angular velocity detection device allows the angular velocity converter to use the corrected sensitivity coefficient to calculate each actual angular velocity of the mobile unit.

Claims

1. An angular velocity detection device, mounted in a mobile unit, for sensing an angular velocity of the mobile unit, the device comprising:

angular velocity detection means for delivering a first sensor output corresponding to an angular velocity of the mobile unit;

learning means for learning a sensitivity coefficient used to convert the first senor output to an actual angular velocity of the mobile unit in accordance with the first senor output and information carried by a GPS signal;

acceleration detection means for delivering a second sensor output corresponding to an acceleration of the mobile unit;

sensitivity coefficient correction means for determining a corrected sensitivity coefficient in accordance with the sensitivity coefficient and the second sensor output; and

angular velocity conversion means for multiplying the first sensor output by the sensitivity coefficient from the learning means or the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit, wherein

the sensitivity coefficient correction means calculates a setting angle of the angular velocity detection means relative to the mobile unit in accordance with a ratio between a sensitivity coefficient for converting a sensor output corresponding to an angular velocity sensed when a detection axis of the angular velocity detection means is oriented in a vertical direction into the actual angular velocity of the mobile unit and the sensitivity coefficient from the learning means,

the sensitivity coefficient correction means calculates an angle of inclination of the mobile unit based on a ratio of the gravitational acceleration to a difference between the second sensor output and an actual acceleration of the mobile unit,

the sensitivity coefficient correction means calculates a value obtained by multiplying a ratio between the setting angle and the angle of inclination by the sensitivity coefficient from the learning means as the corrected sensitivity coefficient, and

the sensitivity coefficient correction means allows the angular velocity conversion means to calculate the actual angular velocity of the mobile unit using the corrected sensitivity coefficient.

2. An angular velocity detection device, mounted in a mobile unit, for sensing an angular velocity of the mobile unit, the device comprising:

angular velocity detection means for delivering a first sensor output corresponding to an angular velocity of the mobile unit;

learning means for learning a sensitivity coefficient used to convert the first senor output to an actual angular velocity of the mobile unit in accordance with the first senor output and information carried by a GPS signal;

acceleration detection means for delivering a second sensor output corresponding to an acceleration of the mobile unit;

sensitivity coefficient correction means for determining a corrected sensitivity coefficient in accordance with the second sensor output; and

angular velocity conversion means for multiplying the first sensor output by the sensitivity coefficient from the learning means or the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit, wherein

the sensitivity coefficient correction means learns the second sensor output to thereby determine a middle learning value from the acceleration detection means, and also calculates a setting angle of the angular velocity detection means relative to the mobile unit in accordance with a value obtained by multiplying the difference between the middle learning value and an under-horizontal middle learning value by the second sensor output divided by the gravitational acceleration, the under-horizontal middle learning value being obtained by learning a sensor output corresponding to an acceleration sensed when a detection axis of the acceleration detection means is oriented in a horizontal direction,

the sensitivity coefficient correction means calculates an angle of inclination of the mobile unit based on a ratio of the gravitational acceleration to the difference between the second sensor output and an actual acceleration of the mobile unit, and also calculates a value obtained by multiplying a ratio between the setting angle and the angle of inclination by the sensitivity coefficient from the learning means as the corrected sensitivity coefficient, and

the sensitivity coefficient correction means allows the angular velocity conversion means to calculate the actual angular velocity of the mobile unit using the corrected sensitivity coefficient.

3. An angular velocity detection device, mounted in a mobile unit, for sensing an angular velocity of the mobile unit, the device comprising:

angular velocity detection means for delivering a first sensor output corresponding to an angular velocity of the mobile unit;

learning means for learning a sensitivity coefficient used to convert the first senor output to an actual angular velocity of the mobile unit in accordance with the first senor output and information carried by a GPS signal;

acceleration detection means for delivering a second sensor output corresponding to an acceleration of the mobile unit;

sensitivity coefficient correction means for determining a corrected sensitivity coefficient in accordance with the sensitivity coefficient and the second sensor output; and

angular velocity conversion means for multiplying the first sensor output by the sensitivity coefficient from the learning means or the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit, wherein

the sensitivity coefficient correction means calculates a first setting angle of the angular velocity detection means relative to the mobile unit in accordance with a ratio between a sensitivity coefficient for converting a sensor output corresponding to an acceleration sensed when a detection axis of the angular velocity detection means is oriented in a vertical direction into the actual angular velocity of the mobile unit and the sensitivity coefficient from the learning means,

the sensitivity coefficient correction means learns the second sensor output to thereby determine a middle learning value from the acceleration detection means, and also calculates a second setting angle of the angular velocity detection means relative to the mobile unit in accordance with a value obtained by multiplying a difference between the middle learning value and an under-horizontal middle learning value by the second sensor output divided by the gravitational acceleration, the under-horizontal middle learning value being obtained by learning a sensor output corresponding to an acceleration sensed when a detection axis of the acceleration detection means is oriented in a horizontal direction,

the sensitivity coefficient correction means calculates an angle of inclination of the mobile unit based on a ratio of the gravitational acceleration to a difference between the second sensor output and an actual acceleration of the mobile unit,

the sensitivity coefficient correction means selects one of the first and second setting angles in accordance with a predetermined condition to calculate, as the corrected sensitivity coefficient, a value obtained by multiplying a ratio between the selected setting angle and the angle of inclination by the sensitivity coefficient from the learning means, and

the sensitivity coefficient correction means allows the angular velocity conversion means to calculate the actual angular velocity of the mobile unit using the corrected sensitivity coefficient.

4. An angular velocity detection device, mounted in a mobile unit, for sensing an angular velocity of the mobile unit, the device comprising:

an angular velocity detector for delivering a first sensor output corresponding to an angular velocity of the mobile unit;

a learning unit for learning a sensitivity coefficient used to convert the first senor output to an actual angular velocity of the mobile unit in accordance with the first senor output and information carried by a GPS signal;

an acceleration detector for delivering a second sensor output corresponding to an acceleration of the mobile unit;

a sensitivity coefficient correction unit for determining a corrected sensitivity coefficient in accordance with the sensitivity coefficient and the second sensor output; and

an angular velocity converter for multiplying the first sensor output by the sensitivity coefficient from the learning unit or the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit, wherein

the sensitivity coefficient correction unit calculates a setting angle of the angular velocity detector relative to the mobile unit in accordance with a ratio between a sensitivity coefficient for converting a sensor output corresponding to an angular velocity sensed when a detection axis of the angular velocity detector is oriented in a vertical direction into the actual angular velocity of the mobile unit and the sensitivity coefficient from the learning unit,

the sensitivity coefficient correction unit calculates an angle of inclination of the mobile unit based on a ratio of the gravitational acceleration to a difference between the second sensor output and an actual acceleration of the mobile unit,

the sensitivity coefficient correction unit calculates a value obtained by multiplying a ratio between the setting angle and the angle of inclination by the sensitivity coefficient from the learning unit as the corrected sensitivity coefficient, and

the sensitivity coefficient correction unit allows the angular velocity converter to calculate the actual angular velocity of the mobile unit using the corrected sensitivity coefficient.

5. An angular velocity detection device, mounted in a mobile unit, for sensing an angular velocity of the mobile unit, the device comprising:

an angular velocity detector for delivering a first sensor output corresponding to an angular velocity of the mobile unit;

a learning unit for learning a sensitivity coefficient used to convert the first senor output to an actual angular velocity of the mobile unit in accordance with the first senor output and information carried by a GPS signal;

an acceleration detector for delivering a second sensor output corresponding to an acceleration of the mobile unit;

a sensitivity coefficient correction unit for determining a corrected sensitivity coefficient in accordance with the second sensor output; and

an angular velocity converter for multiplying the first sensor output by the sensitivity coefficient from the learning unit or the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit, wherein

the sensitivity coefficient correction unit learns the second sensor output to thereby determine a middle learning value from the acceleration detector, and also calculates a setting angle of the angular velocity detector relative to the mobile unit in accordance with a value obtained by multiplying the difference between the middle learning value and an under-horizontal middle learning value by the second sensor output divided by the gravitational acceleration, the under-horizontal middle learning value being obtained by learning a sensor output corresponding to an acceleration sensed when a detection axis of the acceleration detector is oriented in a horizontal direction,.

the sensitivity coefficient correction unit calculates an angle of inclination of the mobile unit based on a ratio of the gravitational acceleration to the difference between the second sensor output and an actual acceleration of the mobile unit, and also calculates a value obtained by multiplying a ratio between the setting angle and the angle of inclination by the sensitivity coefficient from the learning unit as the corrected sensitivity coefficient, and

the sensitivity coefficient correction unit allows the angular velocity converter to calculate the actual angular velocity of the mobile unit using the corrected sensitivity coefficient.

6. An angular velocity detection device, mounted in a mobile unit, for sensing an angular velocity of the mobile unit, the device comprising:

an angular velocity detector for delivering a first sensor output corresponding to an angular velocity of the mobile unit;

a learning unit for learning a sensitivity coefficient used to convert the first senor output to an actual angular velocity of the mobile unit in accordance with the first senor output and information carried by a GPS signal;

an acceleration detector for delivering a second sensor output corresponding to an acceleration of the mobile unit;

a sensitivity coefficient correction unit for determining a corrected sensitivity coefficient in accordance with the sensitivity coefficient and the second sensor output; and

an angular velocity converter for multiplying the first sensor output by the sensitivity coefficient from the learning unit or the corrected sensitivity coefficient to thereby calculate the actual angular velocity of the mobile unit, wherein

the sensitivity coefficient correction unit calculates a first setting angle of the angular velocity detector relative to the mobile unit in accordance with a ratio between a sensitivity coefficient for converting a sensor output corresponding to an acceleration sensed when a detection axis of the angular velocity detector is oriented in a vertical direction into the actual angular velocity of the mobile unit and the sensitivity coefficient from the learning unit,

the sensitivity coefficient correction unit learns the second sensor output to thereby determine a middle learning value from the acceleration detector, and also calculates a second setting angle of the angular velocity detector relative to the mobile unit in accordance with a value obtained by multiplying a difference between the middle learning value and an under-horizontal middle learning value by the second sensor output divided by the gravitational acceleration, the under-horizontal middle learning value being obtained by learning a sensor output corresponding to an acceleration sensed when a detection axis of the acceleration detector is oriented in a horizontal direction,

the sensitivity coefficient correction unit calculates an angle of inclination of the mobile unit based on a ratio of the gravitational acceleration to a difference between the second sensor output and an actual acceleration of the mobile unit,

the sensitivity coefficient correction unit selects one of the first and second setting angles in accordance with a predetermined condition to calculate, as the corrected sensitivity coefficient, a value obtained by multiplying a ratio between the selected setting angle and the angle of inclination by the sensitivity coefficient from the learning unit, and

the sensitivity coefficient correction unit allows the angular velocity converter to calculate the actual angular velocity of the mobile unit using the corrected sensitivity coefficient.