JPH095351A - Status decision unit for mobile - Google Patents

Abstract

PURPOSE: To obtain a status decision unit for mobile in which a noncontact decision can be made for the status of a mobile without modifying the existing facility. CONSTITUTION: Outputs from a first sensor 11 fixed to a mobile in order to detect the acceleration in the advancing direction, a second sensor 12 for detecting the pitching angular speed in the advancing direction, and a third sensor 13 for detecting the angular speed in turning orientation are sampled for a predetermined time to obtain signals, corresponding to the output from respective sensors, which are then averaged. The averaged signals are differentiated and compared with threshold, previously determined for the acceleration, the pitching angular speed and the angular speed in turning orientation. Finally, the status of mobile is decided, based on the comparison results.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a state determining device for a moving body, and more particularly to a state determining device for a moving body which can be easily mounted and can accurately determine stop / start / run of the moving body.

[0002]

2. Description of the Related Art Conventionally, for example, the state of a vehicle such as a stopped state, a started state, a running state, etc. is determined by the rotation of tires,
It is performed based on a signal indicating a motion state obtained from a part that is actually rotating. The most common signal indicating a motion state is acquired by using an existing vehicle speed sensor installed in the vehicle and measuring the speed and distance information based on the output pulse from the vehicle speed sensor to determine the state.

[0003]

However, an output pulse is obtained by clipping the output from a vehicle speed sensor, which is conventionally arranged for other purposes such as engine control, in the middle of the lead wire of the vehicle speed sensor. Therefore, the electronic circuit of the vehicle-mounted computer or the like for engine control may be affected and the electronic circuit may malfunction.

Since the output form of the output pulse from the vehicle speed sensor differs depending on the vehicle type, the output form must be confirmed in order to make a determination based on this output pulse.
Not only is it time consuming and costly for the investigation, but the lead wire is damaged during the construction of the clip and the wire breakage,
An accident such as poor contact may occur.

Further, in the vehicle-mounted navigation device disclosed in Japanese Patent Laid-Open No. 4-77613, the stop state of the vehicle is detected from the output of the mileage sensor, the angular velocity at the time of traveling is detected by the angular velocity sensor, and the angular velocity is detected. The output of the sensor is filtered by the filtering means, and when the stop state of the vehicle is detected, the offset value of the angular velocity sensor is calculated from the output value of the filtering means, and the output of the angular velocity sensor is corrected by this offset value to correct the vehicle It calculates the azimuth and the offset is calculated after filtering the output of the angular velocity sensor, so the influence of the output fluctuation of the angular velocity sensor due to the vehicle body vibration can be suppressed and the azimuth and position of the vehicle can be calculated accurately. is there. However, even with this technique, the detection of the stopped state uses the output of the mileage sensor, and the inconvenience as described above cannot be avoided.

Therefore, the present invention solves the above problems,
Can accurately determine the state of stopping / starting / running of a moving object,
Moreover, without changing the existing equipment such as vehicle speed sensor,
Provided is a mobile body state determination device capable of determining the state of a mobile body in a non-contact manner.

[0007]

In order to solve the above-mentioned problems, a moving body state judging device of the present invention comprises a first sensor attached to the moving body for detecting an acceleration in the traveling direction, and the traveling direction. Of the second sensor for detecting the pitching angular velocity, the third sensor for detecting the turning azimuth angular velocity, and the outputs of the first, second, and third sensors for a predetermined time and digitized A / D conversion means, averaging means for averaging the first, second and third sensor output corresponding signals obtained from the A / D converter for a predetermined time, and the first and second averaging means from the averaging means. And a differentiating means for differentiating and outputting the third sensor output corresponding signal, and a threshold value memory for storing a predetermined threshold value for each of the acceleration, the pitching angular velocity and the turning azimuth angular velocity. Means for comparing the first, second and third sensor output corresponding signals obtained from the differentiating means with corresponding threshold values stored in the threshold value memory means. Perform the second and third comparison operations,
It comprises a comparison means for outputting a comparison result, and a determination means for determining the state of the moving body based on the output of the comparison means.

Here, the predetermined means is the first and second
And the third comparison calculation result is equal to or more than the corresponding threshold value, it is determined that the mobile body is traveling, and the comparison calculation result is less than the corresponding threshold value. It can be determined that the moving body is stopped. Further, when both the first and second comparison calculation results are equal to or more than the corresponding threshold values, it can be determined that the moving body is in the activated state.

[0009]

According to the present invention, the first sensor for detecting the acceleration in the traveling direction, the second sensor for detecting the pitching angular velocity in the traveling direction, and the third sensor for detecting the turning azimuth angular velocity attached to the moving body are used. Each output of each sensor output corresponding signal is obtained by averaging each sensor output corresponding signal for a given time, and the signal obtained by differentiating each of the averaged signals and the acceleration, pitching angular velocity and turning azimuth angular velocity respectively. On the other hand, the corresponding threshold value determined in advance is compared, and the state of the moving body is determined based on the comparison result. For example, the predetermined means determines that the moving body is running when all of the first, second, and third comparison calculation results are equal to or more than the corresponding threshold values, and any of them corresponds. When it is less than the threshold value, it can be determined that the moving body is stopped. Further, when both the first and second comparison calculation results are equal to or more than the corresponding threshold values, it can be determined that the moving body is in the activated state.

[0010]

Embodiments of the present invention will now be described with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an embodiment of a moving body state determination device according to the present invention.

In the present embodiment, the acceleration sensor 1 for detecting the acceleration A1 in the traveling direction as shown in FIG.
1 and a pitching angular velocity sensor 12 in the traveling direction (here, the pitching angle in the traveling direction is a deflection angle of the moving body with respect to the traveling direction) A2.
And a turning angular velocity sensor 13 for detecting a turning azimuth angular velocity A3 are attached, and a calculation process is performed based on the acceleration output A1 from each of the sensors 11 to 13, the traveling direction pitching angular velocity output A2, and the turning azimuth angular velocity output A3 to move. Determine your physical condition.

Referring to FIG. 1, in response to the ON setting of the power supply 100, the acceleration sensor 11, the pitching angular velocity sensor 12, the acceleration signal A1 from the turning angular velocity sensor 13, the pitching angular velocity signal output A2, and the turning azimuth angular velocity output A3. After being amplified by the amplifier 20, the A / D converter 3
It is sampled at 0 and digitized. This sampling and digitization process is performed at a predetermined time, for example, 1
It only runs for a second. Acceleration data A thus obtained
1 and the angular velocity data A2 and A3 are input to the arithmetic unit 40 and subjected to predetermined arithmetic processing to determine the state of the moving body.

The arithmetic unit 40 includes an average arithmetic unit 401, a differential arithmetic unit 402, a comparison arithmetic unit 403, and a threshold memory 404.
And a determination unit 405. The average calculator 401 includes an acceleration output signal A1 and angular velocity output signals A2 and A3 from the acceleration sensor 11 and the angular velocity sensors 12 and 13, respectively.
The respective values are averaged for 1 second to obtain an average value. The differential calculation unit 402 differentiates the acceleration signal A1 from the average calculation unit 401 and the average value signal corresponding to the angular velocity signals A2 and A3 to change values ΔA1 of the respective acceleration and angular velocity.
Calculate ΔA2 and ΔA3. The comparison calculation unit 403 calculates the change value ΔA1 of the acceleration and the angular velocity obtained by the differentiation calculation unit 402.
.About..DELTA.A3 and the respective threshold values S1, S2 and S3 which are predetermined corresponding to the acceleration A1 and the angular velocities A2 and A3 stored in the threshold memory 404, and are compared. Output the result.

The threshold values S1, S2 and S3 stored in the threshold memory 404 are acceleration A1 in the traveling direction,
Changes in pitching angular velocity A2 and turning direction angular velocity A3
In other words, it is set and stored as a value sufficient for determining that the moving body has moved, and can be set empirically or experimentally in advance. From the comparison calculation unit 403, the differential value of the average value of the signals corresponding to the respective outputs of the sensors 11 to 13 is, for example, averaged by the average calculation unit 401 for 1 second, and this is performed three times to obtain 3 When the threshold value is less than the corresponding threshold value S1 to S3 for 2 seconds, "0" is set as each of the parameters V1 to V3, and otherwise "1" is output.

The determination unit 405 receives the parameters V1 to V3 from the comparison calculation unit 403, and if even one of the parameters V1 to V3 is "1", it is determined to be "running" and V1 is set.
When all of V3 to V3 are “0” continuously for a predetermined time, for example, 3 seconds, it is determined to be stopped. When the previous determination is "stop", if the parameters V1 and V2 are "1", it is determined as "start", and thereafter, "running" is determined until "stop" is determined. The judgment criteria in the judgment unit 405 are collectively shown in FIG.

[0016]

As described above, according to the state determining apparatus for a moving body of the present invention, it is only necessary to add a component completely independent of the existing vehicle-mounted equipment, so that it does not depend on the vehicle type. It is easy to install and does not require investigation of the output form of the vehicle speed sensor, etc. and does not adversely affect electronic circuits such as computers. In addition, since the amount of change is calculated by sampling averaging and differentiation processing, offset value error can be reduced, and if a threshold value is set and the sensor output change amount is less than or equal to the threshold value, it will stop accurately even in a short time. Can be determined.

[Brief description of drawings]

FIG. 1 is a configuration block diagram showing an embodiment of a moving body state determination device according to the present invention.

FIG. 2 is a speed sensor 11 attached to a moving body in the embodiment shown in FIG.
It is a figure which shows the pitching angular velocity sensor 12 which detects the advancing direction pitching angular velocity, and the turning angular velocity sensor 13 which detects turning azimuth angular velocity.

FIG. 3 is a diagram showing a determination standard of a determination unit 405 in the embodiment of FIG.

[Explanation of symbols]

 11 speed sensor 12 pitching angular velocity sensor 13 turning angular velocity sensor 20 amplifier 30 A / D converter 40 arithmetic unit 100 power supply 401 average arithmetic unit 402 differential arithmetic unit 403 comparison arithmetic unit 404 threshold memory 405 judgment unit

Claims (4)

[Claims] 1. A first sensor attached to a moving body for detecting an acceleration in a traveling direction, a second sensor for detecting a pitching angular velocity in the traveling direction, and a third sensor for detecting a turning azimuth angular velocity. A / D conversion means for sampling each output of the first, second and third sensors for a predetermined time and digitizing the outputs, and the first, second and third A / D converters obtained from the A / D converter.
Averaging means for averaging the sensor output corresponding signals for a predetermined time, differentiating means for differentiating and outputting the first, second and third sensor output corresponding signals from the averaging means, the acceleration, pitching Threshold value memory means for storing a predetermined threshold value for each of the angular velocity and the turning azimuth angular velocity, the first, second and third sensor output corresponding signals obtained from the differentiating means and the aforesaid Based on the output of the comparison means, which performs the first, second and third comparison operations for comparing the corresponding threshold value stored in the threshold value memory means and outputs the comparison result, A determination unit for determining the state of the moving body, comprising: a state determining apparatus for the moving body. 2. The predetermined means comprises the first, second and third means.
2. The state determination device for a moving body according to claim 1, wherein when any one of the comparison calculation results in 1 is equal to or more than a corresponding threshold value, it is determined that the moving body is traveling. 3. The determining means includes the first, second and third means.
The state determination device for a mobile body according to claim 1, wherein the mobile body is determined to be stopped when any of the comparison calculation results in (1) is less than a corresponding threshold value. 4. The determining means determines that the moving body is in an activated state when both the first and second comparison calculation results are equal to or more than a corresponding threshold value.
The state determination device for a moving body according to item 1.