Apparatus for calculating position of vehicle

• US 4,713,767 A
• Filed: 05/06/1985
• Issued: 12/15/1987
• Est. Priority Date: 05/09/1984
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Sato, Akira, Sato, Kazuo, Mizutani, Kansei, Shima, Junkoh, Saito, Takaharu, Mikawa, Toshimasa
• Primary Examiner(s): Chin, Gary
• Application Number:
  US06/730,572
• Time in Patent Office: 953 Days
• Field of Search: 364/443, 364/444, 364/449, 364/450, 364/454, 364/453, 364/460, 364/571, 73/178 R, 340/988, 340/989, 340/991, 340/993, 342/450, 342/451
• US Class Current: 701/220
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

A vehicle position calculating apparatus has relative position calculating means for calculating a relative vehicle position with respect to a reference position and absolute position calculating means for calculating an absolute vehicle position from fixed-station absolute position information and vehicle bearing information which are obtained from a radio wave transmitted from a fixed station and the above-described relative vehicle position. The relative position calculating means includes means for calculating a present vehicle position by employing absolute positions successively obtained as new reference positions. Accordingly, it is possible to accurately obtain an absolute present vehicle position.

Claims

1. A vehicle position calculating apparatus comprising:

(a) traveled-distance sensor means for detecting a distance traveled by a vehicle;

(b) bearing sensor means for detecting a vehicle advancing direction;

(c) relative position calculating means for calculating relative vehicle positions with respect to reference positions using an inertial navigation method employing said distance traveled and said vehicle advancing direction respectively detected by said traveled-distance sensor means and said bearing sensor means; and

(d) absolute position calculating means for calculating absolute vehicle positions based on fixed-station absolute position information and a plurality of items of vehicle bearing information which are obtained by a radio wave transmitted from a fixed station and said relative vehicle positions calculated by said relative position calculating means at a plurality of points where respective items of vehicle bearing information are obtained;

said relative position calculating means including means for calculating a present vehicle position by employing the successively calculated absolute vehicle positions as said reference positions.

2. A vehicle position calculating apparatus according to claim 1, wherein said absolute position calculating means includes means for obtaining vehicle bearing information by detecting an angle of arrival of the radio wave transmitted from said fixed station.

3. A vehicle position calculating apparatus according to claim 1, wherein said absolute position calculating means includes means for obtaining, at the fixed station, vehicle bearing information by detecting an angle of arrival of a radio wave transmitted from the vehicle, and transmitting the radio wave arrival angle from said fixed station to the vehicle.

4. A vehicle position calculating apparatus according to claim 1, wherein said absolute position calculating means includes means for obtaining vehicle bearing information by detecting, at the fixed station, an angle of arrival of a radio wave transmitted from the vehicle, and transmitting the radio wave arrival angle from said fixed station to the vehicle, and means for obtaining vehicle bearing information by detecting, at the vehicle, an angle of arrival of the radio wave transmitted from said fixed station.

5. A vehicle position calculating apparatus according to claim 1, further comprising correction constant calculating means for calculating a correction constant by obtaining the relationship of a vector AB between an absolute position A and an absolute position B with respect to a vector AB'"'"' between an absolute position A and an absolute position B'"'"', and said relative position calculating means is also for correcting said present vehicle position by employing said correction constant.

6. A vehicle position calculating apparatus according to claim 5, wherein said correction constant calculating means includes means for calculating correction constants which are given by Kx=ABx/AB'"'"'x and Ky=ABy/AB'"'"'y where ABx, AB'"'"'x, ABy and AB'"'"'y are X and Y components of the vectors AB and AB'"'"' in an X-Y orthogonal system respectively, and said relative position calculating means includes means for calculating said corrected present vehicle position by the equation CPx=Kx·

CP'"'"'x and CPy=Ky·

CP'"'"'y where Cp'"'"'x and CP'"'"'y represent X and Y coordinates of an uncorrected present position CP'"'"' relative to absolute position C and CPx and CPy represent the corrected present vehicle position in X and Y coordinates respectively relative to absolute position C.

7. A vehicle position calculating apparatus according to claim 6, wherein said correction constant calculating means includes means for calculating as a correction constant the angle β

made between the vectors AB'"'"' and AB, and said relative position calculating means includes means for calculating said corrected present vehicle position by obtaining a vector CP which is obtained by rotating a vector CP'"'"' by the angle β

where P and P'"'"' represent the corrected and uncorrected vehicle positions respectively and C represents an absolute position C.

8. A vehicle position calculating apparatus according to claim 6, wherein said correction constant calculating means includes means for calculating a correction constant L which is given by L=AB/AB'"'"', and said relative position calculating means includes means for calculating said present vehicle position P which is given by CP=L·

CP'"'"'.

9. A vehicle position calculating apparatus according to claim 6, wherein said correction constant calculating means includes means for calculating as correction constants the angle β

made between the vectors AB'"'"' and AB and L which is given by L=AB/AB'"'"', and said relative position calculating means includes means for calculating said corrected present vehicle position P by obtaining a vector CP which is obtained by rotation a vector L·

CP'"'"' by the angle β

where P and P'"'"' represent the corrected and uncorrected vehicle positions respectively and C represents an absolute position C.

10. A vehicle position calculating apparatus according to claim 1, wherein said traveled-distance sensor means includes means for outputting one pulse every time a wheel rotates a predetermined angle.

11. A vehicle position calculating apparatus according to claim 5, wherein said traveled-distance sensor means includes means for outputting one pulse every time a wheel rotates a predetermined angle.

12. A vehicle position calculating apparatus according to claim 10, wherein said bearing sensor means is a yaw-rate sensor which detects a yaw rate of said vehicle.

13. A vehicle position calculating apparatus according to claim 11, wherein said bearing sensor means is a yaw-rate sensor which detects a yaw rate of said vehicle.

14. A vehicle position calculating apparatus according to claim 12, wherein said yaw-rate sensor is a gas-rate gyro.

15. A vehicle position calculating apparatus according to claim 13, wherein said yaw-rate sensor is a gas-rate gyro.

16. A vehicle position calculating apparatus comprising:

(a) traveled-distance sensor means for detecting a distance traveled by a vehicle;

(b) bearing sensor means for detecting a vehicle advancing direction;

(c) relative position calculating means for calculating relative vehicle positions with respect to reference positions using an inertial navigation method, by employing the distance traveled and the vehicle advancing direction respectively detected by said traveled-distance sensor means and said bearing sensor means;

(d) absolute position calculating means for calculating absolute vehicle positions from fixed-station absolute position information and a plurality of items of vehicle bearing information which are obtained by a radio wave transmitted from a fixed station and relative vehicle positions calculated by said relative position calculating means at a plurality of points where the respective items of vehicle bearing information are obtained; and

(e) correction constant calculating means for calculating a correction constant by obtaining the relationship of a vector AB with respect to a vector AB'"'"', in which A and B represent absolute positions calculated by said absolute position calculating means and B'"'"' represents a position calculated by said relative position calculating means using the absolute position A employed as a reference position, the position B'"'"' corresponding the the absolute position B,

said relative position calculating means including means for calculating a present vehicle position P by employing said correction constant obtained by said correction constant calculating means using an absolute position C calculated by said absolute position calculating means employed as a reference position.

17. A vehicle position calculating apparatus according to claim 16, wherein said correction constant calculating means includes means for calculating correction contants Kx and Ky which are respectively given by Kx=ABx/AB'"'"'x and Ky=ABy/AB'"'"'y, where Bx, By, B'"'"'x and B'"'"'y respectively represent X and Y components of the vectors AB and AB'"'"' respectively and said relative position calculating means includes means for calculating the present vehicle position P relative to an absolute position C as CPx=Kx·

CP'"'"'x and CPy=Ky·

CP'"'"'y where P, represents said present vehicle position obtained when no correction is made and CPx and CPy and X and Y coordinates of CP, and CP'"'"'x and CP'"'"'y are X and Y coordinates of CP'"'"'.

18. A vehicle position calculating apparatus according to claim 16, wherein said correction constant calculating means includes means for calculating as a correction constant the angle β

made between the vectors AB'"'"' and AB, and said relative position calculating means includes means for calculating the present vehicle position P by obtaining a vector CP which is obtained by rotating a vector CP'"'"' between said absolute position C, and P'"'"', which is a present vehicle position when no correction is made, by the angle β

.

19. A vehicle position calculating apparatus according to claim 16, wherein said correction constant calculating means includes means for calculating a correction constant L which is given by L=AB/AB'"'"', and said relative position calculating means includes means for calculating the present vehicle position P relative to the absolute position C which is given by CP=L·

CP'"'"' where P'"'"' is a present vehicle position when no correction is made.

20. A vehicle position calculating apparatus according to claim 16, wherein said correction constant calculating means includes means for calculating as correction constants the angle β

made between, the vectors AB'"'"' and AB and L which is given by L=AB/AB'"'"', and said relative position calculating means includes means for calculating the present vehicle position P by obtaining a vector CP which is obtained by rotating a vector L·

CP'"'"' by the angle β

where P'"'"' is a present vehicle position when no correction is made.

21. A vehicle position calculating apparatus comprising:

(a) traveled-distance sensor means for detecting a distance traveled by a vehicle;

(b) bearing sensor means for detecting a vehicle advancing direction;

(c) relative position calculating means for calculating a relative vehicle position with respect to a reference position, using an inertial navigation method employing the traveled distance detected by said traveled-distance sensor means and the vehicle advancing direction detected by said bearing sensor means;

(d) absolute position calculating means for calculating an absolute vehicle position on the basis of a plurality of sets of fixed-station absolute position information and radio wave arrival direction information which are obtained in succession from a radio wave transmitted from at least one fixed station and the relative vehicle positions calculated by said relative position calculating means, at a plurality of points where the respective sets are obtained, the calculated absolute vehicle position being employed as a new reference position;

(e) correction factor calculating means for calculating a correction factor on the basis of a relationship between the absolute vehicle position obtained by said absolute position calculating means and the relative vehicle position corresponding to the absolute vehicle position and obtained by said relative position calculating means; and

(f) present vehicle position calculating means for calculating a present vehicle position by correcting a relative vehicle position with respect to said new reference position, using said correction factor.