Vehicular traveling direction measuring system

• US 5,023,799 A
• Filed: 02/06/1990
• Issued: 06/11/1991
• Est. Priority Date: 02/06/1989
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Ueno, Hiroshi, Nakayama, Okihiko, Tsuda, Hiroshi, Itoh, Toshiyuki
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/474,922
• Time in Patent Office: 490 Days
• Field of Search: 364/443, 364/449, 364/453, 364/454, 364/457, 364/571.05, 33/356, 33/357, 33/355 R, 73/178 R
• US Class Current: 701/207
• CPC Class Codes: G01C 17/38 Testing, calibrating, or compensating of compasses

Abstract

A system measures a traveling direction of a vehicle based on a direction toward a coordinate position defined by outputs of a geomagnetic sensor from a first coordinate position of a center of a corresponding output circle. The system utilizes a preliminary coordinate position as a preliminarily corrected value of the first coordinate position, a first value indicative of accuracy of the preliminary coordinate position and a second value which is variable depending on a variation in a magnetization level on a vehicle body. The system derives a finally corrected value of the first coordinate position based on the preliminary coordinate position and a latest value of the finally corrected value which has been derived in a prior execution of the system, by changing a rate which determines a point of the current finally corrected value between the latest finally corrected value and the preliminary coordinate position.

Claims

1. A system comprising:

a geomagnetic sensor for sequentially deriving two directional component data of the geomagnetism around a vehicle, the two directions corresponding to said two directional component data, being orthogonal to each other on a horizontal plane;

first means for deriving a traveling direction of the vehicle based on a direction toward a coordinate position defined by said two directional component data from a first coordinate position of a center of a corresponding output circle;

second means for deciding whether a magnetization level on a vehicle body is shifted from a first level to a second level based on said two directional component data;

third means for storing a first group of said two directional component data;

fourth means for storing a second group of said two directional component data;

fifth means for deriving a second coordinate position as a preliminarily corrected value of said first coordinate position based on said first group of the data, said second coordinate position derived for said first magnetization level in response to a negative decision of said second means;

sixth means for deriving a third coordinate position as a preliminarily corrected value of said first coordinate position based on said second group of the data, said third coordinate position derived for said second magnetization level in response to a positive decision of said second means;

seventh means for deriving a first value indicative of accuracy of said second or third coordinate position;

eighth means for deriving a second value which is variable depending on a variation in the magnetization level on the vehicle body;

ninth means for calculating a fourth coordinate position as a finally corrected value of said first coordinate position based on said second or third coordinate position and

a latest value of said fourth coordinate position, said latest value derived in a prior calculation executed by said ninth means, by using a rate derived from said first and second values, said rate determining an amount of displacement of said 5 fourth coordinate position between said latest value and said second or third coordinate position so as to determine a point of said fourth coordinate position.

2. The system as set forth in claim 1, wherein said first level or second level of the magnetization includes a zero level.

3. The system as set forth in claim 1, wherein said second means yields said positive decision when the magnetization level is first shifted from the first level to the second level and then the second level is maintained.

4. The system as set forth in claim 1, wherein said fourth coordinate position is derived closer to said second or third coordinate position as said first value is larger provided that said second value is constant.

5. The system as set forth in claim 1, wherein said fourth coordinate position is derived closer to said second or third coordinate position as said second value is less provided that said first value is constant.

6. The system as set forth in claim 1, wherein said second value is constant during said variation in the magnetization level being zero.

7. The system as set forth in claim 1, wherein said eighth means includes tenth means for deriving a third value indicative of the variation in the magnetization level from the first level to the second level, said tenth means being operable only when said third coordinate position is derived by said sixth means, and said eighth means derives said second value based on said third value.

8. The system as set forth in claim 7, wherein said third value is derived by a following equation:

space="preserve" listing-type="equation">VC=K×

|PC-OC|

wherein, vC denotes said third value and is given in a range of 0 to 1, K denotes a constant, PC denotes said second or third coordinate position, and OC denotes said latest value of said fourth coordinate position.

9. The system as set forth in claim 8, wherein said second value is derived by a following equation:

space="preserve" listing-type="equation">IVC=OIVC×

(1-VC)

wherein, IVC denotes said second value and is given no less than a value 1, OIVC denotes a latest value of said second value derived in a prior calculation executed by said eighth means and is given no less than a value 1, and VC denotes said third value and is given in a range of 0 to 1.

10. The system as set forth in claim 1, wherein said ninth means includes eleventh means for deriving a fourth value by a following equation:

space="preserve" listing-type="equation">DR=AC/IVC

wherein, DR denotes said fourth value and is given in a range of 0 to 1, AC denotes said first value and is given in a range of 0 to 1, and IVC denotes said second value and is given no less than 1, and

said fourth coordinate position is derived by a following equation;

space="preserve" listing-type="equation">NC=OC+PR×

|PC-OC|

wherein, NC den said fourth coordinate position, OC said latest value of said fourth coordinate position, DR denotes said fourth value, and PC denotes said second or third coordinate position.

11. The system as set forth in claim 3, wherein said second group of the data is those data derived after a decision of said second means that the magnetization level is first shifted from the first level to the second level.

12. The system as set forth in claim 11, wherein said eighth means includes tenth means for deriving a third value indicative of the variation in the magnetization level from the first level to the second level, said tenth means being operable only when said third coordinate position is derived by said sixth means, and said eighth means derives said second value based on said third value.

13. The system as set forth in claim 12, wherein twelfth means is included for erasing said first group of the data according to a second rate determined by said third value and for adding said second group of the data to said first group of the data.

14. The system as set forth in claim 13, wherein said third means stores all the two directional component data derived during traveling of the vehicle except for those data erased by said twelfth means.

15. The system as set forth in claim 1, wherein said second value is increased by a predetermined constant after said ninth means calculates said fourth coordinate position when said first value is more than a predetermined level and an absolute difference between said second or third coordinate position and said fourth coordinate position is less than a predetermined level.

16. A system comprising:

a geomagnetic sensor for sequentially deriving two directional component data of the geomagnetism around a vehicle, the two directions corresponding to said two directional component data, being orthogonal to each other on a horizontal plane;

first means for deriving a first traveling direction of the vehicle based on a direction toward a coordinate position defined by said two directional component data from a first coordinate position of a center of a corresponding output circle;

second means for deriving a variation in a traveling direction of the vehicle base on data output from a non-geomagnetic second sensor, said second sensor outputting said data without being affected by the geomagnetism around the vehicle;

third means for deriving a second traveling direction of the vehicle based on said variation derived by said second means;

fourth means for deciding whether a magnetization level on a vehicle body is shift from a first level to a second level based on said two direction component data;

fifth means for storing a first group of said two directional component data;

sixth means for storing a second group of said two directional component data;

seventh means for storing a third group of said two directional component data and corresponding data of said second traveling direction of the vehicle;

eighth means for deriving a second coordinate position as a preliminarily corrected value of said first coordinate position based on said first group of the data, said second coordinate position derived for said first magnetization level in response to a negative decision of said fourth means;

ninth means for deriving a third coordinate position as a preliminarily corrected value of said first coordinate position based on the data stored in said seventh means, said third coordinate position derived for said second magnetization level in response to a positive decision of said fourth means;

tenth means for deriving a first value indicative of accuracy of said second coordinate position;

eleventh means for deriving a second value indicative of accuracy of said third coordinate position;

twelfth means for deriving a fourth coordinate position as a preliminarily corrected value of said first coordinate position based on said second group of the data, said fourth coordinate position derived for said second magnetization level when said second value is less than a first predetermined level;

thirteenth means for deriving a third value indicative of accuracy of said fourth coordinate position;

fourteenth means for deriving a fourth value which is variable depending on a variation in the magnetization level on the vehicle body;

fifteenth means for calculating a fifth coordinate position as a finally corrected value of said first coordinate position based on said second or third or fourth coordinate position and a latest value of said fifth coordinate position, said latent value derived in a prior calculation executed by said fifteenth means, by using a rate derived from said first or second or third value and said fourth value, said rate determining an amount of displacement of said fifth coordinate position between said latest value and said second or third or fourth coordinate position so as to determine a point of said fifth coordinate position between said latest value and said second or third or fourth coordinate position.

17. The system as set forth in claim 16, wherein said fourth means yields said positive decision when the magnetization level is first shifted from the first level to the second level and then the second level is maintained.

18. The system as set forth in claim 17, wherein said fourteenth means includes sixteenth means for deriving a fifth value indicative of the variation in the magnetization level from the first level to the second level, said sixteenth means being operable only when said third or fourth coordinate position is derived by said ninth or twelfth means, and said fourteenth means derives said fourth value based on said fifth value.

19. The system as set forth in claim 18, wherein said data stored in said sixth and seventh means are those data derived after a decision of said fourth means that the magnetization level is first shifted from the first level to the second level, and said first group of the data is erased according to a rate determined by said fifth value and is added with said second group of the data.

20. The system as set forth in claim 17, wherein said twelfth means derives said fourth coordinate position when said second value is less than said first predetermined level and when a first directional variation after a decision of said fourth means that the magnetization level is first shifted from the first level to the second level, is larger than a second predetermined level, said first directional variation derived by said second means.

21. The system as set forth in claim 20, wherein said ninth means derives said third coordinate value when a second directional variation after said decision of the fourth means is larger than a third predetermined level, said second directional variation derived by said second means and said third predetermined level being less than said second predetermined level.

22. The system as set forth in claim 21, wherein said ninth means repeats said derivation of the third coordinate position until said second value becomes no less than said first predetermined level but before said first directional variation becomes larger than said second predetermined level.