Guidance method and system for an automotive vehicle

• US 4,459,667 A
• Filed: 03/10/1982
• Issued: 07/10/1984
• Est. Priority Date: 03/28/1981
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takeuchi, Yasuhisa
• Primary Examiner(s): Gruber, Felix D.
• Assistant Examiner(s): Malamud, Ronni S.
• Application Number:
  US06/356,759
• Time in Patent Office: 853 Days
• Field of Search: 364/424, 364/443, 364/449, 364/450, 364/452, 364/453, 343/450, 343/451, 343/454, 343/456, 343/457, 343/389
• US Class Current: 701/207
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01S 5/10 Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements , e.g. omega or decca systemsG01S5/12 takes precedence ; beacons and receivers cooperating therewith G01S1/306, G01S1/308
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A guidance method and system for an automotive vehicle which switches from an electronic navigational signal method to a dead reckoning method when any of the field strengths of three navigational electromagnetic wave signals drops below a predetermined lower limit or vice versa when the field strengths of the three navigational electromagnetic wave signals all exceed the lower limit. Therefore, even if the navigational wave signals are obstructed by buildings or mountains, it is possible to continuously determine and display the vehicle position. The guidance system according to the present invention comprises a receive-state detection unit for detecting three field strengths and for comparing the detected field strengths with a predetermined lower limit, and a selector for selectively outputting vehicle position signals on the basis of navigational signals or dead reckoning, in addition to the conventional electronic navigation system and dead reckoning system.

Claims

1. A method of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations, which comprises the following steps:

(a) receiving the at least three navigational electromagnetic wave signals synchronously transmitted from the at least three fixed stations;

(b) detecting the differences in receive time between two pairs of said at least three navigational electromagnetic wave signals;

(c) determining at least two hyperbolas in accordance with the detected differences in receive time between the pairs of navigational electromagnetic wave signals;

(d) calculating a point of intersection of the at least two determined hyperbolas to obtain a vehicle position on the basis of navigational electromagnetic wave signals;

(e) storing sequentially the vehicle position calculated on the basis of navigational electromagnetic wave signals;

(f) detecting vehicle orientation in which the vehicle is travelling;

(g) detecting vehicle speed at which the vehicle is travelling;

(h) calculating a distance over which the vehicle has travelled in accordance with the detected vehicle orientation and the detected vehicle speed;

(i) adding the distance calculated on the basis of detected vehicle orientation and detected vehicle speed to the current stored vehicle position calculated on the basis of navigational electromagnetic wave signals in order to obtain a vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed;

(j) detecting the field strengths of the at least three navigational electromagnetic wave signals;

(k) comparing the detected field strengths with a predetermined lower limit; and

(l) selecting and displaying the vehicle position calculated on the basis of navigational electromagnetic wave signals when the detected field strengths are all beyond the predetermined lower limit and the vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed when any one of the detected field strengths is below the predetermined lower limit.

2. A method of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations, which comprises the following steps:

(a) receiving the at least three navigational electromagnetic wave signals synchronously transmitted from the at least three fixed stations;

(b) detecting the differences in receive time between two pairs of said at least three navigational electromagnetic wave signals;

(c) determining at least two hyperbolas in accordance with the detected difference in receive time between the pairs of navigational electromagnetic wave signals;

(d) calculating a point of intersection of the at least two determined hyperbolas to obtain a vehicle position on the basis of navigational electromagnetic wave signals;

(e) storing sequentially the vehicle position calculated on the basis of navigational electromagnetic wave signals;

(f) detecting vehicle orientation in which the vehicle is travelling;

(g) detecting vehicle speed at which the vehicle is travelling;

(h) calculating a distance over which the vehicle has travelled in accordance with the detected vehicle orientation and the detected vehicle speed;

(i) adding the distance calculated on the basis of detected vehicle orientation and detected vehicle speed to the current stored vehicle position calculated on the basis of navigational eleectromagnetic wave signals in order to obtain a vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed;

(j) detecting the field strengths of the at least three navigational electromagnetic wave signals;

(k) comparing the detected field strengths with a predetermined lower limit;

(l) generating a signal indicative of an erroneous vehicle position on the basis of navigational electromagnetic wave signals when any one of the detected field strengths is below the predetermined lower limit;

(m) calculating the vehicle speed according to the generated signal indicative of the erroneous vehicle position calculated on the basis of navigational electromagnetic wave signals;

(n) comparing the calculated vehicle speed with the detected vehicle speed and generating an output signal indicative thereof; and

(o) selecting and displaying the vehicle position calculated on the basis of navigational electromagnetic wave signals when the difference between the calculated vehicle speed and the detected vehicle speed is less than a predetermined amount and the vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed when the calculated vehicle speed is greater than the detected vehicle speed by said predetermined amount.

3. A method of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations as set forth in claim 2, which further comprises the following steps of:

(a) comparing the detected vehicle speed with a reference vehicle speed;

(b) generating an output signal when the detected vehicle speed is greater than the reference speed and no signal when the detected vehicle speed is equal to or smaller than the reference speed;

(c) inverting the output signal generated when the calculated vehicle speed signal is compared with the detected vehicle speed; and

(d) ANDing the output signal generated when the detected vehicle speed is compared with the reference vehicle speed and the inverted output signal in order to select and to output the vehicle position calculated on the basis of navigational electromagnetic wave signals when the difference between the calculated vehicle speed and the detected vehicle speed is less than said predetermined amount and when the detected vehicle speed is greater than the reference speed, and the vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed when the calculated vehicle speed is greater than the detected vehicle speed by said predetermined amount or when the detected vehicle speed is smaller than the reference speed.

4. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations, which comprises:

(a) a receiver for receiving the at least three navigational electromagnetic wave signals synchronously transmitted from the at least three fixed stations and for generating signals corresponding thereto;

(b) a position detection unit connected to said receiver for detecting differences in receive time between at least two pairs of said at least three navigational electromagnetic wave signals, for determining at least two hyperbolas in accordance with the detected difference in receive time, for calculating a point of intersection of the at least two determined hyperbolas, and for outputting a signal indicative of a vehicle position calculated on the basis of said navigational electromagnetic wave signals;

(c) a vehicle orientation sensor for detecting vehicle orientation in which the vehicle is travelling and for outputting signals corresponding thereto;

(d) a vehicle speed sensor for detecting vehicle speed at which the vehicle is travelling and for outputting signals corresponding thereto;

(e) a position calculating unit connected to said vehicle orientation sensor, said speed sensor, and said position detection unit for calculating a distance over which the vehicle has travelled in accordance with the detected vehicle orientation and the detected vehicle speed, for sequentially storing the vehicle position calculated on the basis of navigational wave signals, for adding the distance calculated on the basis of detected vehicle orientation and detected vehicle speed to the current stored vehicle position calculated on the basis of navigational electromagnetic wave signals, and for outputting a signal indicative of a vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed;

(f) a receive-state detection unit connected to said receiver for detecting field strengths of the at least three navigational electromagnetic wave signals, for comparing the detected field strengths with a predetermined lower limit, and for outputting no signal when the detected field strengths are all beyond the lower limit and for outputting an output signal when any one of the detected field strengths is below the lower limit;

(g) a selector connected to said position calculating unit, said position detection unit, and said receive-state detection unit for selecting the signal generated from said position detection unit when said receive-state detection unit outputs no signal and the signal generated from said position calculating unit when said receive-state detection unit outputs an output signal; and

(h) a display unit connected to said selector for receiving said selected signal for displaying the signals generated from said position detection unit and from said position calculating unit;

whereby the vehicle positions are displayed on the basis of navigational electromagnetic wave signals when the field strengths are all beyond the predetermined lower limit and on the basis of detected vehicle orientation and detected vehicle speed when any one of the field strengths is below the predetermined lower limit.

5. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations, which comprises:

(a) a receiver for receiving the at least three navigational electromagnetic wave signals synchronously transmitted from the at least three fixed stations, for detecting field strengths of said received signals, for comparing the detected field strengths with a predetermined lower limit, and for generating signals corresponding to the results of said comparison;

(b) a position detection unit connected to said receiver for detecting differences in receive time between at least two pairs of said at least three navigational electromagnetic wave signals, for determining at least two hyperbolas in accordance with the detected differences in receive time, for calculating a point of intersection of the at least two determined hyperbolas, for outputting signals indicative of a vehicle position calculated on the basis of navigational wave signals when the field strengths of the navigational electromagnetic wave signals are all beyond said predetermined lower limit and signals indicative of an erroneous vehicle position when any one of the detected field strengths is below the predetermined lower limit;

(c) a vehicle orientation sensor for detecting vehicle orientation in which the vehicle is travelling and for outputting signals corresponding thereto;

(d) a vehicle speed sensor for detecting vehicle speed, V, at which the vehicle is travelling and for outputting signals corresponding thereto;

(e) a memory connected to said position detection unit for storing the signals from said position detection unit and outputting same after a predetermined delay;

(f) a position calculating unit connected to said vehicle orientation sensor, said vehicle speed sensor, and said memory, for calculating a distance over which the vehicle has travelled in accordance with the detected vehicle orientation and the detected vehicle speed, for sequentially receiving the outputted signals from the memory, for adding the distance calculated on the basis of detected vehicle orientation and detected vehicle speed to the stored vehicle position represented by said outputted signals from said memory, and for outputting a signal indicative of a vehicle position calculated on the basis of detected vehicle orientation and detected vehicle speed;

(g) a speed calculating unit connected to said position detection unit for calculating vehicle speed Vs according to the output signals from said position detection unit indicative of the vehicle position calculated on the basis of navigational electromagnetic wave signals;

(h) a comparator connected to said position calculating unit and said speed calculating unit for comparing the calculated vehicle speed with the detected vehicle speed and for outputting no signal when the difference between the calculated vehicle speed and the detected vehicle speed is less than a predetermined amount and an output signal when the calculated vehicle speed is greater than the detected vehicle speed by said predetermined amount;

(i) a selector connected to said position calculating unit, said position detection unit, and said comparator for selecting the signal generated from said position detection unit when said comparator outputs no signal and the signal generated from said position calculating unit when said comparator outputs an output signal;

(j) a display unit connected to said selector for receiving said selected signal and for displaying the selected signals;

whereby the vehicle positions are displayed on the basis of navigational electromagnetic wave signals when the field strengths are all beyond the predetermined lower limit and on the basis of detected vehicle orientation and detected vehicle speed when any one of the field strengths is below the predetermined lower limit.

6. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations as set forth in claim 5, which further comprises:

(a) a speed detection unit connected to said position calculating unit for comparing the detected vehicle speed with a reference vehicle speed, and for generating an output signal when the detected vehicle speed is greater than the reference speed and no signal when the detected vehicle speed is equal to or smaller than the reference speed;

(b) an inverter connected to said comparator for inverting the output signal generated from said comparator and for outputting an inverted signal;

(c) an AND gate connected to said speed detection unit and said inverter for ANDing the output signal from said speed detection unit and the inverted signal from said inverter and for outputting an ANDed signal to said selector to select the signal from said position detection unit when the difference between the calculated vehicle speed and the detected vehicle speed is less than said predetermined amount and when the detected vehicle speed is greater than the reference speed, and to select the signal from said position calculating unit when the calculated vehicle speed is greater than the detected vehicle speed by said predetermined amount or when the detected vehicle speed is smaller than the reference speed.

7. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations as set forth in claim 5 which further comprises a receive-state detection unit connected between said receiver and said selector, for detecting the field strengths of the at least three navigational electromagnetic wave signals, for comparing the detected field strength with said predetermined lower limit, and for outputting no signal to said selector to select the signal generated from said position detection unit only when said receive-state detection unit detects that the field strengths of said navigational electromagnetic wave signals are all beyond the predetermined limit,

whereby vehicle positions are switched from display on the basis of navigational electromagnetic wave signals to display on the basis of detected vehicle orientation and detected vehicle speed only when said comparator outputs an output signal, and from the display on the basis of detected vehicle orientation and detected vehicle speed to the display on the basis of navigational electromagnetic wave signals only when said receive-state detection unit outputs no signal.

8. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations as set forth in claim 5, wherein said speed calculating unit comprises:

(a) a first memory unit connected to said position detection unit for storing a most current value (x,y) of said vehicle position signals generated from said position detection unit;

(b) a second memory unit connected to said first memory for storing the preceding value (x'"'"',y'"'"') of said most current value of said vehicle position signals generated from said position detection unit;

(c) a time counter for determining calculating time periods t;

(d) a calculating section connected to said first and second memory units, said time counter and said comparator for calculating vehicle speed on the basis of

space="preserve" listing-type="equation">(x'"'"'-x).sup.2 +(y'"'"'-y)/t

and for outputting a signal corresponding to said vehicle speed Vs.

9. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations as set forth in claim 5, wherein said comparator comprises:

(a) an oscillator for generating clock signals;

(b) a counter connected to said oscillator and said position calculating unit for counting a number of clock signals proportional to said detected vehicle speed;

(c) a subtractor connected to said speed calculating unit for subtracting a constant K₁ from the vehicle speed Vs calculated by said speed calculating unit and for outputting a signal corresponding to the subtraction; and

(d) said comparator being a digital comparator connected to said counter, said subtractor, and said selector, for comparing the subtraction with the detected vehicle speed V, and for outputting said comparator output signal, when the subtraction is equal to or greater than the detected vehicle speed V, to said selector.

10. A system of guiding an automotive vehicle in accordance with at least three navigational electromagnetic wave signals transmitted from at least three fixed stations as set forth in claim 6, wherein said speed detection unit connected between said position calculating unit and said AND gate is a retriggerable monostable multivibrator.