Method for determining the course of a land vehicle by comparing signals from wheel sensors with signals of a magnetic sensor

• US 5,487,009 A
• Filed: 05/05/1993
• Issued: 01/23/1996
• Est. Priority Date: 11/07/1990
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hill, Heidebrecht
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/050,228
• Time in Patent Office: 993 Days
• Field of Search: 364/449, 364/444, 364/450, 364/457, 364/453, 364/559, 364/571.01, 318/587, 340/988, 340/995, 342/451, 342/357, 33/319, 33/356, 33/357, 180/79.2, 180/140, 180/141, 324/226, 324/247, 324/260
• US Class Current: 701/207
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 22/025 Differential odometers

Abstract

In a method for determining the location of a land vehicle wherein the driving distance and course changes are derived from wheel pulses generated by sensors in the course of the revolution of the wheels of a vehicle axle by respectively a preset angle, the course changes derived from the wheel pulses are compared with comparison course changes which are obtained independently of the wheel pulses. Correction values are derived from the result of the comparison. The comparison course changes are preferably detected with the aid of a magnetic sensor (compass).

Claims

1. A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of:

observing the course changes and the comparison course changes over the course of an observation course driven by the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds,

calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value,

changing said stored correction factors to provide changed, stored correction factors, as follows;

increasing said stored correction factors if the course changes are less than the comparison course changes, and

reducing the stored correction factors if the course changes are greater than the comparison course changes.

2. A method in accordance with claim 1, wherein the changed, stored correction factors for different driving operations are determined by at least one of a speed range and a course change range and further comprising the step of weighting a derived course change during a respective driving operation with the changed, stored correction factors.

3. A method in accordance with claim 2, further comprising the steps of:

determining limits of the course change ranges as fractions of a dynamic maximum value for the course change, and

changing the dynamic maximum value by means of a learning process to maximum course changes occurring during the operation of the respective vehicle.

4. A method in accordance with claim 1, further comprising the step of separately deriving and storing the correction factors for both positive and negative signs of the course change.

5. A method in accordance with claim 1, further comprising the step of deriving a directional signal when the number of pulses of one of the wheels exceeds the number of pulses of the other wheel by at least 2 at the end of an observation course, in order to detect the direction of a course change of wheel pulses which have been corrected by increasing or decreasing the number of wheel pulses by 1, after a number of wheel pulses.

6. A method in accordance with claim 5, further comprising the step of adding differences between wheel pulses corresponding to the direction determined up to that time over an observation course, such that:

differences with opposite signs and an amount of one pulse are added at a first occurrence thereof

the added differences are erased and a new observation course is started;

at a second occurrence of differences with opposite signs and an amount of one pulse or

with differences of greater than one pulse.

7. A method in accordance with claim 1, further comprising the steps of:

deriving a correction value from a difference in a number of wheel pulses of both wheels during straight-ahead driving,

storing the correction value and

using the correction value for correction of the number of wheel pulses of at least one of the wheels.

8. A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of:

determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds,

observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle,

calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value,

changing said stored correction factors to provide changed, stored correction factors, as follows;

increasing said stored correction factors if the course changes are less than the comparison course changes, and

reducing the stored correction factors if the course changes are greater than the comparison course changes, and

the derivation of the correction factors takes place only with course changes which are located by at least a safety distance below a maximum course change determined by lateral guide forces of the wheels as a result of skidding of the vehicle.

9. A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of:

determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds, the observation course having a length that is dependent on the vehicle speed and that in a range of approximately 40 to 70 km/h, the length of the observation course is made constant,

observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle,

calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value,

changing said stored correction factors to provide changed, stored correction factors, as follows;

increasing said stored correction factors if the course changes are less than the comparison course changes, and

reducing the stored correction factors if the course changes are greater than the comparison course changes.

10. A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of:

determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds,

observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle,

calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value,

changing said stored correction factors to provide changed, stored correction factors, as follows;

increasing said stored correction factors if the course changes are less than the comparison course changes, and

reducing the stored correction factors if the course changes are greater than the comparison course changes,

dividing the observation course into a preset number of observation windows,

adding changes of course parameters detected during passage through the observation window in respectively one observation window, and

terminating observation over an observation course started for one of the following;

(i) recognition of straight-ahead driving,

(ii) recognition of a sign of a course change, and

(iii) evaluation of cornering, and starting a new observation course if a sensor error has been detected.

11. A method for correcting a course of a land vehicle in a navigation system wherein a driving distance and course changes are derived from wheel pulses generated by sensors in the course of revolution of wheels of a vehicle axle by respectively a preset angle, Wherein the course changes derived from the wheel pulses are compared with comparison course changes which are detected with the aid of a magnetic sensor, and wherein correction factors are derived from the result of the comparison and stored, the method comprising the steps of:

determining an observation course in accordance with travel speed of the vehicle, such that the observation course is greater at higher vehicle speeds than at lower vehicle speeds,

observing the course changes and the comparison course changes over the course of the observation course driven by the vehicle,

calculating a difference between the course changes and the comparison course changes during course changes over said observation course which are greater than a preset minimum value,

changing said stored correction factors to provide changed, stored correction factors, as follows;

increasing said stored correction factors if the course changes are less than the comparison course changes, and

reducing the stored correction factors if the course changes are greater than the comparison course changes,

checking measurement values of the comparison course changes for plausibility, and

starting a new observation course in case of comparison course changes which have been recognized as being defective.