Vehicular traveling direction measuring system with automatic center coordinate position correction

• US 5,172,322 A
• Filed: 08/13/1990
• Issued: 12/15/1992
• Est. Priority Date: 08/11/1989
• Status: Expired due to Term

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Takano, Kenji, Ueno, Hiroshi
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): AUCHTERLONIE, THOMAS
• Application Number:
  US07/565,836
• Time in Patent Office: 855 Days
• Field of Search: 364/449, 364/453, 364/454, 364/571.01, 364/571.02, 364/571.03, 364/571.04, 364/571.05, 364/457, 33/320, 33/356, 33/357, 33/355 R, 33/361
• 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 output data from a geomagnetic direction sensor from a first center coordinate position of a corresponding output circle. The system derives a second center coordinate position based on the output data from the geomagnetic direction sensor. The system utilizes a first group of the second center coordinate positions and a second group of the second center coordinate positions. When it is decided that the first center coordinate position is shifted, then a new or corrected center coordinate position is derived based on the first group of the second center coordinate positions, on the other hand, when it is decided that no shift of the first center coordinate position is generated, then the corrected center coordinate positiion is derived based on the second group of the second center coordinate positions.

Claims

1. A system for measuring a traveling direction of a vehicle comprising:

a geomagnetic sensor, mounted to the vehicle, which is operable to sequentially derive a set of data relating to the geomagnetism around the vehicle, said data having components in two directions which are orthogonal to each other on a horizontal plane to define a first coordinate position by each set of said two directional component data,

a control circuit operatively connected to said geomagnetic sensor, said control circuit

including;

first means for sequentially deriving a second center coordinate position of a corresponding output circle based on said first coordinate position;

second means for storing a first group of said second center coordinate position data;

third means for storing a second group of said second center coordinate position data;

fourth means for deriving a third center coordinate position based on said first group of the second center coordinate position data;

fifth means for deriving a first value indicative of reliability of said third center coordinate position based on said first group of the second center coordinate position data and said third center coordinate position;

sixth means for deriving a fourth center coordinate position based on said second group of the second center coordinate position data;

seventh means for deriving a second value indicative of reliability of said fourth center coordinate position based on said second group of the second center coordinate position data and said fourth center coordinate position;

eighth means for deciding which of said third and fourth center coordinate positions is to be selected for deriving a traveling direction of the vehicle;

ninth means, in response to said eighth means selecting said third center coordinate position, for setting said third center coordinate position to be a first finally corrected center coordinate position;

tenth means, in response to said eighth means selecting said fourth center coordinate position, for setting said fourth center coordinate position to be a second finally corrected center coordinate position;

said eighth means selecting said third or fourth center coordinate position based on said first reliability indicative values derived in current and prior executions of said fifth means, respectively, when said first finally corrected center coordinate position being set in the prior execution of said ninth means, and based on said first and second reliability indicative values derived in the current and prior executions of said fifth and seventh means, respectively, when said second finally corrected center coordinate position being set in the prior execution of said tenth means;

whereby said control circuit derives the traveling direction of the vehicle based on a direction from said first or second finally corrected center coordinate position toward said first coordinate position defined by said two directional component data.

2. The system as set forth in claim 1, wherein said tenth means includes eleventh means for deriving a distance between said third center coordinate position derived in the current execution of said fourth means and said first or second finally corrected center coordinate position set in the prior execution of said ninth or tenth means, and twelfth means for comparing said distance with a preset value, and wherein said tenth means sets said second finally corrected center coordinate position when said distance is no more than said preset value and performs no setting of said finally corrected second center coordinate position when said distance is more than said preset value.

3. The system as set forth in claim 2, wherein said first and second groups of the data are maintained when said tenth means performs no setting of said second finally corrected enter coordinate position.

4. The system as set forth in claim 1, wherein said eighth means decides to select said third center coordinate position when said first reliability indicative value derived in the current execution of said fifth means is larger than said first or second reliability indicative value derived in the prior execution of said fifth or seventh means.

5. The system as set forth in claim 1, wherein said second group of the data is replaced by said first group of the data when said first finally corrected center coordinate position is set by said ninth means, and wherein said first group of the data stored in said second means is erased when said first finally corrected center coordinate position is set by said ninth means.

6. The system as set forth in claim 1, wherein said first group of the data is erased when said second finally corrected center coordinate position is set by said tenth means, and wherein said second group of the data is maintained.

7. The system as set forth in claim 1, wherein said first reliability indicative value is derived based on following equations:

##EQU6## wherein, Vx_TC and Vy_TC are X and Y coordinate values, respectively, of said second center coordinate position stored in said second means. Vx_PC1 and Vy_PC1 are X and Y coordinate values, respectively, of said third center coordinate position, n denotes the number of Vx_TC and Vy_TC, respectively, stored in said second means, R is an average output value of the geomagnetism, and RL₁ is said first reliability indicative value,

and wherein said second reliability indicative value is derived based on following equations;

##EQU7## wherein, Vx_TC and Vy_TC are X and Y coordinate values, respectively, of said second center coordinate position stored in said third means, Vx_PC2 and Vy_PC2 are X and Y coordinate values, respectively, of said fourth center coordinate position, n denotes the number of Vx_TC and Vy_TC, respectively, stored in said third means, R is an average output value of the geomagnetism, and RL₂ is said second reliability indicative value.

8. The system as set forth in claim 1, further comprising a thirteenth means for deriving a comparison value wherein said eighth means includes a fourteenth means for deriving a difference between said first reliability indicative value derived in the current execution of said fifth means and said first or second reliability indicative value derived in the prior execution of said fifth or seventh means, and a fifteenth means for comparing said comparison value with said difference for deciding which of said third and fourth center coordinate positions is to be selected for deriving a traveling direction of the vehicle.

9. The system as set forth in claim 8, wherein said fifteenth means decides to select said third center coordinate position when said comparison value is less than said difference.

10. The system as set forth in claim 9, wherein said fifth means derives a first standard deviation of said third center coordinate position based on the following equation:

##EQU8## wherein, Vx_TC and Vy_TC are X and Y coordinate values, respectively, of said second center coordinate position stored in said third means, Vx_PC1 and Vy_PC1 are X and Y coordinate values, respectively, of said third center coordinate position, n denotes the number of Vx_TC and Vy_TC, respectively, stored in said second means, and δ

_PC1 is said first standard deviation,

and wherein said seventh means derives a second standard deviation of said fourth center coordinate position based on a following equation;

##EQU9## wherein, Vx_TC and Vy_TC are X and Y coordinate values, respectively, of said second center coordinate position stored in said third means, Vx_PC2 and Vy_PC2 are X and Y coordinate values, respectively, of said fourth center coordinate position, n denotes the number of Vx_TC and Vy_TC, respectively, stored in said third means, and δ

_PC2 is said second standard deviation,

and wherein said thirteenth means includes sixteenth means for deriving a third value based on said first standard deviation derived in the prior execution of said fifth means when said first finally corrected center coordinate position was set in the prior execution of said ninth means, and based on said second standard deviation derived in the prior execution of said seventh means when said second finally corrected center coordinate position was set in the prior execution of said tenth means, and seventeenth means for deriving a distance between an instantaneous value of said second center coordinate position and said first or second finally corrected center coordinate position set in the prior execution of said ninth or tenth means, and eighteenth means for comparing said third value with said distance to derive said comparison value.

11. The system as set forth in claim 10, wherein said third value is derived based on a following equation;

space="preserve" listing-type="equation">IEV=1.96×

δ

.sub.LC

wherein, IEV is said third value and δ

_LC is said first or second standard deviation derived in the prior execution of said fifth or seventh means.

12. The system as set forth in claim 10, wherein said eighteenth means includes nineteenth means for subtracting a predetermined value from said comparison value derived in the prior execution of said thirteenth means to derive a corrected comparison value when said distance is larger than said third value and for adding said predetermined value to said comparison value derived in the prior execution of said thirteenth means to derive a corrected comparison value when said third value is larger than said distance.

13. The system as set forth in claim 12, wherein said eighteenth means performs no correction of said comparison value derived in the prior execution of said eighteenth means when said third value is equal to said distance.

14. The system as set forth in claim 12, wherein said eighteenth means includes retaining means for retaining said corrected comparison value to no less than a first given value when said nineteenth means subtracts said predetermined value from said comparison value and for retaining said corrected value to no more than a second given value when said nineteenth means adds said predetermined value to said comparison value.