JPH0155484B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a follow-up steering signal generating device, and particularly relates to a path that is recorded in advance on a recording medium in a direction in which a moving object such as an automobile or an airplane should travel along a desired course. The present invention relates to a follow-up steering signal generating device that generates an azimuth signal or a steering (steering) direction signal for a moving object.

For example, it would be very convenient if the direction in which a car should travel could be calculated based on a route recorded in advance on a recording medium such as a map, and the traffic directions or directions for the car could be given. However, if the scale of the map on which the route is recorded is large, the actual route displayed on the map will be small, making it impossible to provide accurate course instructions or direction guidance.

Therefore, the main object of the present invention is to generate a steering direction signal according to a route on a map.
To provide a follow-up steering signal generating device capable of enlarging only important parts on a map for giving course instructions and direction guidance, and reducing other parts to give more accurate maneuvering signals.

To summarize the present invention, a moving route of a moving object is recorded in a route recording means, and an expected point separated by a predetermined distance from a coordinate position corresponding to the current position of the moving object on the route recording means is a point on the moving object. A follow-up steering signal generating device generates a signal for steering a moving object to move along a moving object, and the moving route recording means includes route information indicating the moving route as well as enlarging a certain area of the moving route. The scale information indicating the reduction of the remaining area is recorded in advance geometrically or numerically, and the coordinate information of the moving object's current position and the angle information of the moving object with respect to a specific direction are recorded in advance. At the same time, the route information and scale information recorded in the route recording means are read out, and when an enlarged or reduced area is detected, the route information is written based on the set reduction value or enlargement value. It is configured to magnify or contract the moving object, and calculate the direction in which the moving object should move in accordance with the coordinate information and angle information of the given moving object's current position, the read route information, and a predetermined calculation formula.

The above objects and other objects and features of the invention will become more apparent from the following detailed description with reference to the drawings.

FIG. 1 is an illustrative diagram showing a map in which the route of a moving object is recorded, to which the present invention is applied. In the figure, a route 10 along which a moving object (not shown) should travel is recorded in advance on a map 1 serving as a route recording means. Of this route 10, areas 11 to 20, such as intersections and bends on the road, which determine the direction of travel of the moving object, are enlarged by reducing the scale value, and other areas such as straight-ahead parts and turning parts are enlarged by reducing the scale value. It is enlarged and then reduced and recorded. A plurality of such maps 1 are prepared.

Note that the route recording means is not limited to the map 1 described above, and the route may be stored in a digital memory.

FIG. 2 is a geometrical illustration for explaining the concept of this invention. This FIG. 2 is an enlarged view of a certain route recorded on the map 1 shown in FIG. 1. On this map 1, a scanning detection point S is set between an assumed moving object 3' and a predetermined distance l from the assumed moving object 3'. Let P be the assumed center of the moving object 3', and let the distance from this center P to the detection point S be l. It is assumed that the detection point S is a point in front of the moving object 3' in the traveling direction and moves in relation to the movement of the moving object 3' on the map 1.
Furthermore, the angle formed by the line connecting the assumed moving object 3' and the detection point S with respect to a specific direction (north in this embodiment) on the map 1 is assumed to be θm. And the coordinate position (Xm, Ym) of the moving object 3' is
It is displayed on this map 1 according to the movement of the actual moving body 3 (Fig. 2), and the coordinate position (Xs, Ys) of the detection point S is determined by the calculation device 4 (third
Figure).

In this embodiment, the map 1 is used as the travel route recording means, and the route 10 is represented as a boundary line between two colors of different lightness, for example, white and black. As the scanning detection point S, for example, a photoelectric detector is used. In this embodiment, when the photoelectric detection point S detects a white area, a signal is generated to steer the moving object 3' to the left, and when the detection point S is located at a black area, a signal is generated to steer the moving object 3' to the right. Generates the desired signal. If the moving object 3' is moved according to the signal by human control or automatic control, the photoelectric detection point S
will also move in that direction. Therefore, by determining the state of the map 1 at the detection point S and giving the signal to the moving object, the moving object is caused to follow this route 10. That is, the signal of this detection point S, that is, the scanning information, detects the difference between the direction in which the moving object 3' should travel or should move and the current direction, and the positive or negative thereof, and determines the direction in which the moving object 3', i.e., 3 should move. Determine direction. The detection point S is located on the right end of the route 10 drawn somewhat thickly in FIG.
If there is, the current direction of the moving object 3' at that time becomes the direction to proceed.

Incidentally, if the current position and direction of the assumed moving object 3' are measured and calculated as coordinates Xm, Ym and θm, respectively, as shown in FIG. 2, the position Xs, Ys is given by the following formula.

Xs=Xm+lsinθm Ys=Ym+lcosθm Here, if l is 0, the current position of the moving object 3', that is, Xm, Ym remains as it is at the scanning detection point S
becomes.

FIG. 3 is a schematic block diagram illustrating a preferred embodiment of the invention. In the configuration, on the map 1 explained in FIG. are provided facing each other. A detection signal from this photodetector 2 is given to a moving object 3. Moving object 3 has
A steering device 31, a compensation device 32, and a position and orientation calculation device 33 are provided. Compensator 32
is the dead time (delay time) in the output of photodetector 2.
This is a compensation device for improving so-called characteristics such as differential compensation and integral compensation, and increasing stability. Therefore, the compensation device 32 provides the steering device 31 with a signal compensated by chattering prevention, PIO operation, etc. This steering device 3
The position and orientation of the mobile body 3 controlled or steered by the vehicle 1 are calculated by the position and orientation calculation device 33 based on the speed information Vm provided. From this position and orientation calculation device 33,
Information on the current position and orientation of the moving object 3, that is, coordinate positions
given to.

The setting device 5 as a scale value setting means is constituted by, for example, a switch, and is used to set and input a scale value. That is, photodetector 2 on map 1
When reaches the expanded area 11 to 20,
Scale enlargement information is provided to the arithmetic unit 4 and the multiplier 6 in order to enlarge the scale value. Further, when the photodetector 2 is located in an area smaller than or equal to the enlarged area 11 to 20, scale value reduction information is provided to the arithmetic unit 4 and the multiplier 6. The multiplier 6 multiplies the scale enlargement information or scale reduction information given from the setter 5 by the distance information l and provides the result to the arithmetic unit 4. That is, for example, when the moving object 3 is moving straight in the reduced area on the map 1 toward the north, the distance in the north-south direction is expanded to increase the distance information l. For example, when the expanded area 17 is reached, the distance in the north-south direction is decreased, and the distance information l is decreased.

The arithmetic unit 4 calculates position information Xs,
Calculate Ys. The calculated position information Xs, Ys is then given to the photodetector 2 on the map 1. Therefore, the photodetector 2 moves according to the position information from the arithmetic device 4, and always detects whether the detection point S is on the route 10.
For example, when the detection point S is to the left of the path 10, that is, in a black area, the photodetector 2 generates a right turn signal. When this is not the case, that is, when the detection point S is in the white area on the right side of the path 10, the photodetector 2 outputs a left turn signal. This signal is then given to the steering device 31 via the compensation device 32 of the moving object 3. If the mobile body 3 is operated manually, it may be operated based on the direction command signal from the compensator 32, and if it is operated automatically, such operation will be performed automatically.

In FIG. 2, the route 10 is drawn somewhat thicker in order to prevent the system from hunting or malfunctioning as shown in FIG. 3. In the embodiment shown in FIG. 3, when traveling counterclockwise, the right end of the traveling direction of the route 10 is set as the command route, but if the traveling direction is reversed, the photodetector in FIG. Just reverse the logical judgment in step 2.

In the above embodiment, the map 1 is used as the route recording means, but the route may be stored in a digital memory. For example, when storing the route shown in Fig. 1 in memory, first store the coordinate command of a circular orbit with radius R in area 11, then store the straight ahead command in area 12, and then store the 90 degree left turn command in area 13. Memorize the command, area 1
4 and 15 are configured to memorize the 45 degree right turn command.
Then, scale value enlargement information is set corresponding to each area. Furthermore, without setting scale value enlargement information in the memory, when an enlarged area is read out, its address may be detected and a scale value may be set.

In addition, in the embodiment shown in FIG. 3, the detection point S is mechanically controlled to move like an X-Y recorder, but this may be achieved by using, for example, a discharge tube, a cathode ray tube, or other electronic display system. You may. The distance l between the assumed moving object 3' and the detection point S may be changed depending on the situation, such as the radius of curvature of the path 10, to improve the tracking characteristics.

Furthermore, the detection point S may correct the angle θm depending on the magnitude of the steering angle of the moving object 3' to detect a smoother moving path.

As described above, according to the present invention, scale information indicating that a certain area of the moving route is to be enlarged and the remaining area is to be reduced can be expressed geometrically or numerically together with the route information indicating the moving route of the moving object. Therefore, the route information and scale information recorded in the route recording means are read in advance, and enlargement or reduction of the area is detected based on the read scale information, and the enlarged or reduced area is detected. The route information is enlarged or scaled based on the set reduction value or enlargement value, and the moving object is moved according to the coordinate information of the current position, angle information, route information, and a predetermined calculation formula. Since the direction in which the object should travel is determined, it is possible to safely and accurately follow the moving object to the desired course with a relatively simple configuration.

[Brief explanation of drawings]

FIG. 1 is an illustrative view showing a map in which the route of a moving object is recorded, to which the present invention is applied. FIG. 2 is a geometrical illustration explaining the concept of this invention.
FIG. 3 is a schematic block diagram showing a preferred embodiment of the invention. In the figure, 1 is a map, 2 is a photodetector, 3 is a moving object, 3' is an assumed moving object, 4 is an arithmetic unit, 5 is a setting device, 6 is a multiplier, and 11 to 20 are enlarged areas. , 10 indicates a route, and S indicates a detection point.

Claims (1)

[Claims] 1. Prediction at a predetermined distance l from the coordinate position (P(X _n , Y _n )) corresponding to the current position of the moving object of the route recording means in which the moving path of the moving object is recorded. A follow-up steering signal generation device that generates a signal for steering the moving object so that a point (S (X _s , Y _s )) moves along the movement route, the route recording means includes the following: Along with the route information indicating the moving route, scale information indicating that a certain area of the moving route is to be enlarged and the remaining area is to be reduced is recorded in advance, either geometrically or numerically, and further, the moving object Coordinate information of the current position (X _n ,
means for providing angle information (θ _n ) of the moving object with respect to Y _n ) and a specific direction; reading means for reading out the route information and scale information recorded in the route recording means; area detection means for detecting that the area is an enlarged or reduced area based on the scale information read out by the reading means; or a scale value setting means for setting a reduction value; a reduction value set by the scale value setting means in response to the area detection means detecting the enlarged or reduced area; a multiplier for enlarging or reducing the route information based on the enlarged value; and a multiplication means for enlarging or reducing the route information based on the enlarged value; A follow-up steering signal generation device equipped with arithmetic processing means for calculating an exponent direction. 2. The follow-up steering signal generating device according to claim 1, wherein the scale value setting means is a switch for inputting scale information corresponding to the scale of the area recorded in the route recording means.