Vehicle behavior detector, in-vehicle processing system, detection information calibrator, and in-vehicle processor

• US 7,096,116 B2
• Filed: 12/30/2003
• Issued: 08/22/2006
• Est. Priority Date: 01/27/2003
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Tanaka, Hiroki, Tsurumi, Kiyoshi
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US10/747,448
• Publication Number:
  US 20040148093A1
• Time in Patent Office: 966 Days
• Field of Search: 701/200, 701207-211, 701213-214, 701/23, 701/205, 342/357.01, 342/357.06, 342/357.12, 342/357.13, 342/457, 342/463, 340/988, 340/995.1, 340/995.14
• US Class Current: 701/200
• CPC Class Codes: B60T 2201/10 Automatic or semi-automatic parking aid systems
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38

Abstract

A vehicle behavior detector obtains detection information from autonomous sensors to detect a change in vehicle behavior. The detection information is calibrated based on position, bearing, and vehicle speed information obtained from a GPS receiver. For example, the vehicle behavior detector calibrates detection information obtained from the vehicle speed sensor and the angular speed sensor with a Kalman filter process. It is difficult to use only the autonomous sensors to calibrate characteristics changes due to individual sensor differences, environmental changes, and aged deterioration. With using GPS information for calibration, the vehicle behavior detector can accurately detect the vehicle behavior. The accuracy is improved for detection information itself to be output from the vehicle behavior detector to external apparatuses. Using this calibrated detection information, the external apparatuses can perform processes appropriately.

Claims

1. A vehicle behavior detector provided in a vehicle, comprising:

an autonomous sensor for detecting information relating to a change in behavior of the vehicle;

a radio navigation positioning unit for obtaining information for positioning the vehicle;

a calibration unit for calibrating detection information from the autonomous sensor by processing information relating to a characteristic change of the autonomous sensor using the information from the radio navigation positioning unit; and

an information output unit capable of outputting the detection information calibrated by the calibration unit to an external apparatus which performs a process using the detection information outputted by the information output unit.

2. The vehicle behavior detector of claim 1,

wherein the autonomous sensor including at least one of an angular speed sensor and an acceleration sensor is contained in a body of the vehicle behavior detector, and

wherein the body is disposed at a position in the vehicle where it is possible to ideally dispose the autonomous sensor whose disposition depends on at least one of a vehicle'"'"'s vertical axis and a vehicle'"'"'s horizontal axis.

3. The vehicle behavior detector of claim 1,

wherein the external apparatus is one of a plurality of external apparatuses,

wherein the autonomous sensor can detect the information used in the plurality of external apparatuses, and

wherein the information output unit can output the detection information necessary for each of the plurality of external apparatuses.

4. The vehicle behavior detector of claim 1,

wherein the external apparatus includes a navigation apparatus,

wherein the autonomous sensor includes an autonomous navigation sensor, and

wherein the information output unit outputs, to the navigation apparatus, the detection information including at least one of position information of the vehicle and traveling path of the vehicle, both of which are calibrated by the calibration unit.

5. The vehicle behavior detector of claim 4,

wherein the navigation apparatus can perform map matching.

6. The vehicle behavior detector of claim 1,

wherein the autonomous sensor includes a turning state sensor for detecting information relating to a turning state of the vehicle, and

wherein the calibration unit calibrates the detection information for learning a neutral position in the turning state sensor.

12. The vehicle behavior detector of claim 1,

wherein the characteristics change of the autonomous sensor results from at least one of individual sensor difference, environment change, and aged deterioration.

17. The vehicle behavior detector of claim 1,

wherein the calibration unit further includes a Kalman filter for calibrating the detection information.

22. The vehicle behavior detector of claim 1,

wherein the external apparatus includes a vehicle controller that provides vehicle control by using the detection information.

23. The vehicle behavior detector of claim 3,

wherein the external apparatus includes a vehicle controller that provides vehicle control by using the detection information.

24. The vehicle behavior detector of claim 4,

wherein the external apparatus includes a vehicle controller that provides vehicle control by using the detection information.

27. The vehicle behavior detector of claims 2,

wherein the autonomous sensor includes a turning state sensor for detecting information relating to a turning state of the vehicle, and

wherein the calibration unit calibrates the detection information for learning a neutral position in the turning state sensor.

28. The vehicle behavior detector of claims 3,

wherein the autonomous sensor includes a turning state sensor for detecting information relating to a turning state of the vehicle, and

wherein the calibration unit calibrates the detection information for learning a neutral position in the turning state sensor.

31. The vehicle behavior detector of claim 1,

wherein the information obtained by the radio navigation positioning unit includes, with respect to the vehicle, at least one of a position, a bearing, and a speed.

7. An in-vehicle processing system comprising:

an external apparatus for performing a process; and

a vehicle behavior detector that includes;

an autonomous sensor for detecting information relating to a change in behavior of the vehicle;

a radio navigation positioning unit for obtaining information for positioning the vehicle;

a calibration unit for calibrating detection information from the autonomous sensor by processing information relating characteristic change of the autonomous sensor using the information from the radio navigation positioning unit; and

an information output unit capable of outputting the detection information calibrated by the calibration unit to the external apparatus,

wherein the external apparatus performs the process using the detection information outputted by the information output unit.

13. The in-vehicle processing system of claim 7,

wherein the characteristics change of the autonomous sensor results from at least one of individual sensor difference, environment change, and aged deterioration.

18. The in-vehicle processing system of claim 7,

wherein the calibration unit further includes a Kalman filter for calibrating the detection information.

8. A detection information calibrator capable of communicating with a vehicle controller which provides vehicle control by using detection information from an autonomous sensor that detects information relating to a change in behavior of a vehicle, the detection information calibrator comprising:

a radio navigation positioning unit for obtaining information for positioning the vehicle;

an information input unit for accepting the detection information from the vehicle controller;

a calibration unit for calibrating the detection information from the information input unit by processing information relating characteristic change of the autonomous sensor using the information from the radio navigation positioning unit; and

an information output unit for outputting the detection information calibrated by the calibration unit to the vehicle controller.

14. The detection information calibrator of claim 8,

wherein the characteristics change of the autonomous sensor results from at least one of individual sensor difference, environment change, and aged deterioration.

19. The detection information calibrator of claim 8,

wherein the calibration unit further includes a Kalman filter for calibrating the detection information.

25. The detection information calibrator of claim 8,

wherein the vehicle controller includes at least one of a navigation apparatus, an AT control apparatus, a meter apparatus, a brake control apparatus, a flight recorder apparatus, a cruise control apparatus, and a Mayday apparatus.

29. The detection information calibrator of claim 8,

wherein the external apparatus is one of a plurality of external apparatuses,

wherein the autonomous sensor can detect the information used in the plurality of external apparatuses,

wherein the information output unit can output the detection information necessary for each of the plurality of external apparatuses,

wherein the external apparatus includes a navigation apparatus,

wherein the autonomous sensor includes an autonomous navigation sensor, and

wherein the information output unit outputs, to the navigation apparatus, the detection information including at least one of position information of the vehicle and traveling path of the vehicle, both of which are calibrated by the calibration unit.

9. A navigation apparatus capable of communicating with a vehicle controller which provides vehicle control by using detection information from an autonomous sensor that detects information relating to a change in behavior of a vehicle, the navigation apparatus comprising:

a navigation unit for performing a navigation process for the vehicle;

a radio navigation positioning unit for obtaining information for positioning the vehicle;

an information input unit for accepting the detection information from the vehicle controller;

a calibration unit for calibrating the detection information from the information input unit by processing information relating to a characteristic change of the autonomous sensor using the information from the radio navigation positioning unit; and

an information output unit for outputting the detection information calibrated by the calibration unit to the vehicle controller.

15. The navigation apparatus of claim 9,

wherein the characteristics change of the autonomous sensor results from at least one of individual sensor difference, environment change, and aged deterioration.

20. The navigation apparatus of claim 9,

wherein the calibration unit further includes a Kalman filter for calibrating the detection information.

26. The navigation apparatus of claim 9,

wherein the vehicle controller includes at least one of an AT control apparatus, a meter apparatus, a brake control apparatus, a flight recorder apparatus, a cruise control apparatus, and a Mayday apparatus.

30. The navigation apparatus of claim 9,

wherein the external apparatus is one of a plurality of external apparatuses,

wherein the autonomous sensor can detect the information used in the plurality of external apparatuses, and

wherein the information output unit can output the detection information necessary for each of the plurality of external apparatuses.

10. An in-vehicle processor provided in a vehicle, comprising:

an autonomous sensor for detecting information relating to a change in behavior of the vehicle;

a radio navigation positioning unit for obtaining information for positioning the vehicle;

a calibration unit for calibrating detection information from the autonomous sensor by processing information relating to a characteristic change of the autonomous sensor using the information from the radio navigation positioning unit; and

a process execution unit for performing a process using the detection information calibrated by the calibration unit.

11. The in-vehicle processor of claim 10, further comprising:

a navigation unit for performing a navigation process for the vehicle.

16. The in-vehicle processor of claim 10,

wherein the characteristics change of the autonomous sensor results from at least one of individual sensor difference, environment change, and aged deterioration.

21. The in-vehicle processor of claim 10,

wherein the calibration unit further includes a Kalman filter for calibrating the detection information.