Information processing device

Abstract

To calculate an azimuth angle with high accuracy in a magnetic sensor.SOLUTION: An information processing device includes a processor. The processor is configured to be able to input / output information between a magnetic sensor capable of measuring the magnitude of magnetism in two directions of an X-axis direction and a Y-axis direction orthogonal to each other, and a moving body on which a behavior sensor capable of detecting a behavior is mounted, estimates an angle change amount of the moving body, calculates a correction coefficient on the basis of a ratio between an X-axis component along the X-axis direction and a Y-axis component along the Y-axis direction in a measured value of magnetism measured by the magnetic sensor, and derives an azimuth angle of the moving body by correcting the measured value of the magnetic sensor with the correction coefficient.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device. [Background technology]

[0002] Patent Document 1 describes an orientation detection device that includes a geomagnetic sensor and an acceleration sensor that is provided in a direction perpendicular to the direction of movement of the geomagnetic sensor, and that determines the consistency between the orientation angle determined from the geomagnetic sensor and the orientation angle determined from the acceleration sensor output. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-099688 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in Patent Document 1 determines the consistency of the azimuth angles calculated from the magnetic sensor and the acceleration sensor. Therefore, even if the magnetic sensor is in a normal state, if the acceleration sensor is faulty, the azimuth angles will not be consistent. In this case, there is a possibility that the geomagnetic sensor may be mistakenly determined to be faulty. Therefore, there has been a demand for technology that can calculate the azimuth angle with high accuracy using a magnetic sensor.

[0005] The present disclosure has been made in view of the above, and has an object to provide an information processing device that can calculate an azimuth angle with high accuracy using a magnetic sensor. [Means for solving the problem]

[0006] An information processing device according to the present disclosure includes a processor, and the processor is configured to be able to input and output information between a mobile body equipped with a magnetic sensor capable of measuring the magnitude of magnetism in mutually orthogonal X-axis and Y-axis directions, and a behavior sensor capable of detecting behavior, and estimates an amount of angular change of the mobile body, calculates a correction coefficient based on the ratio of an X-axis component along the X-axis direction to a Y-axis component along the Y-axis direction in the measured magnetic value measured by the magnetic sensor, and derives the azimuth angle of the mobile body by correcting the measured magnetic value by the magnetic sensor using the correction coefficient. [Effects of the Invention]

[0007] According to the present disclosure, it is possible to calculate the azimuth angle with high accuracy in a magnetic sensor. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating elements constituting a magnetic sensor mounted on a combined vehicle according to an embodiment of the present disclosure. [Figure 2A] FIG. 2A is a diagram for explaining the magnetic detection principle of the magnetic sensor used in one embodiment of the present disclosure. [Figure 2B] FIG. 2B is a diagram for explaining the magnetic detection principle of the magnetic sensor used in the embodiment of the present disclosure. [Figure 2C] FIG. 2C is a diagram for explaining the magnetic detection principle of the magnetic sensor used in the embodiment of the present disclosure. [Figure 2D] FIG. 2D is a diagram for explaining the magnetic detection principle of the magnetic sensor used in the embodiment of the present disclosure. [Figure 3A] FIG. 3A is a graph showing measured values ​​when an element in a magnetic sensor used in an embodiment of the present disclosure is normal. [Figure 3B] FIG. 3B is a graph showing a measurement value in an abnormal state when the resistance value of the element in the magnetic sensor used in the embodiment of the present disclosure is small. [Figure 3C]FIG. 3C is a graph showing a measurement value during an abnormality when the resistance value of the element in the magnetic sensor used in the embodiment of the present disclosure is large. [Figure 4A] FIG. 4A is a graph showing an example of the X-axis component and the Y-axis component of the measurement value of the magnetic sensor used in one embodiment of the present disclosure. [Figure 4B] FIG. 4B is a graph showing an example of a correction method for the X-axis component and the Y-axis component of the measurement value of the magnetic sensor used in one embodiment of the present disclosure. [Figure 5] FIG. 5 is a diagram showing the overall configuration of an articulated vehicle according to one embodiment of the present disclosure. [Figure 6] FIG. 6 is a block diagram illustrating a control device according to one embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram for explaining the deviation of the magnetic sensor used in one embodiment of the present disclosure. [Figure 8] FIG. 8 is a flowchart illustrating a connection angle calculation processing method according to an embodiment of the present disclosure. [Figure 9] FIG. 9 is a flowchart illustrating a gain abnormality determination method according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a flowchart illustrating a gain abnormality determination method according to an embodiment of the present disclosure. [Figure 11] FIG. 11 is a flowchart illustrating a gain abnormality determination method according to an embodiment of the present disclosure. [Figure 12] FIG. 12 is a flowchart illustrating a gain abnormality determination method according to an embodiment of the present disclosure. [Figure 13] FIG. 13 is a flowchart illustrating a method for estimating an angle change amount according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Note that in all the drawings of the embodiment below, the same or corresponding parts are designated by the same reference numerals. Furthermore, the present disclosure is not limited to the embodiment described below.

[0010] First, to facilitate understanding of the present disclosure, the inventors have conducted extensive research into a system that detects the coupling angle (also called the hitch angle or the bending angle) of a trailer as a second moving body towed by a tractor as a first moving body, using both a first magnetic sensor installed on the trailer and a second magnetic sensor installed on the tractor.

[0011] For example, according to the technology described in Patent Document 1, the consistency of the azimuth angles calculated from the geomagnetic sensor and the acceleration sensor is judged, so even if the geomagnetic sensor is in a normal state, if the acceleration sensor is faulty, the consistency cannot be obtained and it may be erroneously judged that the geomagnetic sensor is faulty. In this case, in a system that detects the azimuth angles of a vehicle such as a tractor, which is a combination vehicle, and a trailer towed by the tractor using magnetic sensors mounted on each, if it is judged that the magnetic sensor is abnormal, the coupling angle θ h is judged to be incorrect.

[0012] Therefore, the present inventors conducted extensive research and came up with a method for estimating the travel distance and azimuth angle of the coupled tractor and trailer from the wheel speed, steering angle, etc., and correcting the measured value by using the estimated azimuth angle or amount of change in azimuth angle to obtain a correct measured value even if the measured value of the magnetic sensor is abnormal. This makes it possible to accurately detect the azimuth angles of the tractor and trailer in accordance with the determination of whether the magnetic sensor is normal or abnormal, and makes it possible to derive the coupling angle with high precision.

[0013] Here, the magnetic sensor used in this embodiment will be described. Fig. 1 is a diagram for explaining elements constituting the magnetic sensor mounted on a combined vehicle according to this embodiment. Fig. 2A, Fig. 2B, Fig. 2C, and Fig. 2D are diagrams for explaining the magnetic detection principle of the magnetic sensor used in this embodiment.

[0014] As shown in FIGS. 2A to 2D, the magnetic sensors 11 and 21 are configured to include detection elements 11X and 21X and detection elements 11Y and 21Y that are orthogonal to each other. As shown in FIG. 1, each of the detection elements 11X, 11Y, 21X, and 21Y in the magnetic sensors 11 and 21 can detect a magnetic flux density B based on a voltage value (detection voltage value V) detected between one end and the other end of the element when a predetermined voltage is applied to cause a current to flow. For example, in the magnetic sensor 11, the detection elements 11X and 11Y are arranged orthogonal to each other. The detection voltage value V (V) detected by applying a voltage to each of the detection elements 11X and 11Y to cause a current I to flow is x ,V y ) the magnetic flux density B in the X-axis direction and the Y-axis direction is derived. As a result, the azimuth angle data (X, Y) at the installation position of the magnetic sensor 11 is derived.

[0015] Here, the azimuth angle data measured by the magnetic sensors 11 and 21 is processed as a vector having a predetermined magnetic strength. That is, the azimuth angle data is expressed by the following equation (1). Furthermore, when the azimuth angle data is handled as a set, it is expressed as a set of vectors by the following equations (2), (3), and (4). Furthermore, if necessary, it can also be handled as an angle by the following equation (5). Azimuth angle data: (X, Y)...(1) A set of azimuth angle data: (X1X2… X n ,Y1Y2… Y n )…(2) Maximum azimuth angle data: (max(X1X2… X n ),max(Y1Y2… Y n ))…(3) Azimuth angle data minimum: (min(X1X2… X n),min(Y1Y2… Y n ))…(4) Azimuth angle data: θ=tan -1 (Y / X)...(5) (Note that 0≦θ<2π[rad])

[0016] In the example shown in FIG. 2A, the detection element 11X is parallel to the magnetic flux density B, and the detection element 11Y is perpendicular to the magnetic flux density B. x ,V y ) becomes (0, V). In this case, the azimuth angle θ is calculated based on the following equation (6) which corresponds to equation (5), and is specifically output as 90 degrees. Similarly, in the example shown in FIG. 2B, the detected voltage value (V x ,V y ) is (V, 0), and the azimuth angle θ is output as 0 degrees. In the example shown in FIG. 2C, the detected voltage value (V x ,V y ) is (0, -V), and the azimuth angle θ is output as 270 degrees. In the example shown in FIG. 2D, the detected voltage value (V x ,V y ) becomes (-V, 0), and the azimuth angle θ is output as 180 degrees. By defining the geomagnetic components of the magnetic sensors 11 and 21 based on the azimuth angle θ, the directions of the magnetic sensors 11 and 21 can be derived from the azimuth angle θ. That is, in FIGS. 2A to 2D, when the magnetic flux density B is based on the geomagnetism, the directions of the magnetic sensors 11 and 21 can be derived from the azimuth angle θ. θ=tan -1 (V y / V x )…(6)

[0017] In combination vehicles, a tractor as the first vehicle and a trailer as the second vehicle, each equipped with magnetic sensors 11, 21 configured as described above, the information processing device determines the amount of change in the azimuth angle of the combination vehicles from the steering angle and wheel speed, and determines, as necessary, whether the combination vehicles have made one rotation. If an abnormality occurs in the detection element of the magnetic sensor, which is an azimuth angle sensor, when combination vehicle Ve has made one rotation, magnetic sensors 11, 21 will output a value that would not be generated under normal conditions.

[0018] 3A, 3B, and 3C are graphs showing measured values ​​when the element in the magnetic sensor used in this embodiment is normal, when the resistance value of the element is small, and when the resistance value of the element is large, respectively.

[0019] First, when the magnetic sensors 11 and 21 are normal, the measured values ​​of the magnetic sensors 11 and 21 are as shown in FIG. 3A. In this case, the correct azimuth angle detected is θ0. In contrast, when the resistance value of the detection elements 11Y and 21Y of the magnetic sensors 11 and 21 decreases, the Y-axis component V y In this case, in the example shown in FIG. 3B, the azimuth angle θ B is greater than the azimuth angle θ0 (θ B On the other hand, if the resistance value of the detection elements 11Y and 21Y of the magnetic sensors 11 and 21 increases, the Y-axis component V y In this case, the azimuth angle θ C is smaller than the azimuth angle θ0 (θ C <θ0). These facts indicate that the X-axis component V x The magnitude of the azimuth angle θ varies depending on the azimuth angle θ when the magnetic sensors 11 and 21 are normal. In any case, the measurement values ​​(V x ,V y ) and the azimuth angle θ will not be accurate.

[0020] 4A is a graph showing an example of the X-axis component and the Y-axis component of the measurement value of the magnetic sensors 11 and 21 used in this embodiment. For example, as shown in FIG. 4A, when the X-axis component of the output value of the magnetic sensors 11 and 21 is a positive value and the Y-axis component is 0 (enclosed in a dotted-line rectangle in FIG. 4A), the state shown in FIG. 2B results. In contrast, when the magnetic sensors 11 and 21 are rotated 90 degrees, the X-axis component and the Y-axis component of the geomagnetic component are reversed. In this case, the Y-axis component of the output of the magnetic sensors 11 and 21 is in a state where the geomagnetic component is at its maximum, and the X-axis component is 0, resulting in the state shown in FIG. 2A.

[0021] Therefore, the present inventors have devised a method for determining an abnormality in the magnetic sensors 11, 21 based on the ratio of the outputs of the X-axis component and the Y-axis component when the magnetic sensors 11, 21 are rotated 90 degrees. That is, if a failure or defect occurs in the detection resistor for detecting voltage, the detected voltage value increases or decreases due to a change in the resistance value, and the gain increases or decreases. Therefore, if the deviation in the gain of the magnetic sensors 11, 21 is equal to or greater than a threshold, an abnormality can be detected. Furthermore, in the magnetic sensors 11, 21 mounted on a mobile object, measurements of the magnetic sensors 11, 21 are obtained every time the estimated value of the azimuth angle change (angle change) of the mobile object reaches a predetermined value, for example, every 30 degrees in the example shown in FIG. 4A, and the X-axis component V of the measurement value at a certain point in time is calculated. x and the Y-axis component V of the measurement value after the estimated azimuth angle change has changed by 90 degrees. y Then, as shown in FIG. 4A, in the case where the output of the X-axis component is small in the measured values ​​of the magnetic sensors 11 and 21, the gain correction coefficient K is derived by calculating the average based on the following formula (7). Note that when the output of the Y-axis component is small, V in formula (7) x and V y Just reverse the above.

[0022]

number

[0023] Here, if the gain correction coefficient K is equal to or greater than a predetermined value or less than a predetermined value, it can be determined that the detection elements 11X, 11Y, 21X, and 21Y are faulty. Whether it is determined that a failure has occurred when the gain correction coefficient is equal to or greater than a predetermined value or less than a predetermined value can be set in advance depending on the magnetic sensors 11 and 21. In this way, it is possible to detect a failure of the magnetic sensors 11 and 21.

[0024] Furthermore, even if the magnetic sensors 11 and 21 are not determined to be faulty, the gain correction coefficient K calculated using equation (7) can correct the outputs of the X-axis component detectors 11X and 21X and the Y-axis component detectors 11Y and 21Y. FIG. 4B is a graph showing an example of a correction method for the X-axis component and the Y-axis component of the measurement values ​​of the magnetic sensors 11 and 21 used in this embodiment. As shown in FIG. 4B, when measuring an azimuth angle using the magnetic sensors 11 and 21, in the example shown in FIG. 4B, the X-axis component of the measurement value can be multiplied by the gain correction coefficient K to calculate the azimuth angle. In other words, when the gain of the magnetic sensors 11 and 21 is expanded or contracted, as shown in FIGS. 3B and 3C, a process for correcting the gain deviation can be performed.

[0025] In other words, the magnetic flux density B detected by the detection elements 11X and 21X as shown in FIG. 2A is to As shown, when the orientation of the magnetic sensors 11 and 21 changes by 90 degrees, the other detection elements 11Y and 21Y detect the magnetic flux density B. In this case, as shown by the dotted triangle and dotted circle in FIG. 4A, when the magnetic sensors are rotated by 90 degrees, the outputs of the X-axis component and the Y-axis component are reversed. The magnetic flux density B measured by the detection elements 11X, 21X, 11Y, and 21Y before and after the orientation of the magnetic sensors 11 and 21 changes by 90 degrees should be the same. However, if the detection resistance values ​​are different—for example, if the gain of the detection elements 11X and 21X is reduced in the example shown in FIG. 4A—the detected voltage value changes, resulting in a different measurement value. In this case, the azimuth angle can be calculated correctly by calculating the ratio between the output values ​​of the detection elements 11X and 21X before the 90-degree change and the output values ​​of the detection elements 11Y and 21Y after the 90-degree change and correcting them so that they become the same value.

[0026] Specifically, an information processing device, such as a coupling angle detection device, capable of communicating with the first vehicle and the second vehicle determines whether a gain change has occurred based on the measurement value of the magnetic sensor when the attitude angle of at least one of the first vehicle and the second vehicle changes by a predetermined angle. If a gain change has occurred in the magnetic sensor, the information processing device performs a gain correction process on the measurement value. Note that if the information processing device determines that the gain of the magnetic sensor has changed beyond a predetermined range, it performs an abnormality detection process. As a result, even if a failure has occurred in the magnetic sensor, control can be stopped by performing the abnormality detection. Furthermore, by correcting the measurement value of the magnetic sensor, the measurement accuracy of the azimuth angle measured by the magnetic sensor can be improved, and the coupling angle between the first vehicle and the second vehicle can be detected with high accuracy.

[0027] As described above, the information processing device according to this embodiment calculates the gain correction coefficient K for the measurement value of the magnetic sensor, and if the calculated gain correction coefficient K is less than the small gain judgment threshold (gain correction coefficient<small gain judgment threshold) or greater than the large gain judgment threshold, it determines that the magnetic sensor is in an abnormal gain pattern, in which an abnormality has occurred in the gain. On the other hand, if the calculated gain correction coefficient is greater than or equal to the small gain judgment threshold and less than or equal to the large gain judgment threshold (small gain judgment threshold≦gain correction coefficient K≦large gain judgment threshold), it determines that the magnetic sensor is in a normal gain pattern, in which the gain is normal. If the information processing device determines that the state of the magnetic sensor is in a normal gain pattern, it corrects the measurement value of the magnetic sensor based on the gain correction coefficient. The embodiment described below was devised based on the above-mentioned careful consideration.

[0028] First, an articulated vehicle equipped with a control device, which is an information processing device according to an embodiment of the present disclosure, will be described. Fig. 5 shows the articulated vehicle according to this embodiment. As shown in Fig. 5, the articulated vehicle Ve, which is an articulated moving body according to this embodiment, includes a first vehicle 10, a second vehicle 20, a coupling mechanism 30, and a control device 40.

[0029] The first vehicle 10 as the first moving body is a self-propelled vehicle such as a tractor, and is a vehicle that can be driven by a driver (user), but it may also be an autonomously driven vehicle. The second vehicle 20 as the second moving body is a moving body that is towed by a self-propelled moving body, such as a trailer. Note that the first vehicle 10 and the second vehicle 20 are not limited to cars, but may also be motorcycles, drones, airplanes, ships, trains, etc. The coupling mechanism 30 is composed of, for example, a coupler. When the first vehicle 10 tows the second vehicle 20, the coupling portion 31 of the coupling mechanism 30 bends at various coupling angles (hitch angles) between 0 degrees and 180 degrees.

[0030] The first vehicle 10 includes a first magnetic sensor 11, an output unit 12, a first gyro sensor 13, a first steering sensor 14, and a first wheel speed sensor 15. The first vehicle 10 is configured to be able to couple with a second vehicle 20 and tow the second vehicle 20.

[0031] The first magnetic sensor 11, which serves as a first azimuth angle sensor, is a magnetic sensor that detects a magnetic field, i.e., magnetic flux density B, using two detection elements 11X and 11Y. In this embodiment, the first magnetic sensor 11 is a sensor in which the vector of the geomagnetic component points north, but this is not necessarily limited to north. It is also possible to correct the measurement value of the first magnetic sensor 11 by performing a gain correction process to correct the gain. Note that a gain correction coefficient K 11 is a scalar or a vector.

[0032] The output unit 12 is composed of a touch panel display, a speaker microphone, etc. The output unit 12 is configured to be able to notify predetermined information to the outside by displaying characters, figures, etc. on the screen of the touch panel display or outputting sound from the speaker microphone in accordance with a signal from the control device 40. The output unit 12 may also serve as an input / output unit as input means, and may be configured to allow a user to input predetermined information to the control device 40 by operating the touch panel display or emitting sound into the speaker microphone. The output unit 12 may also be a mobile terminal carried by a user riding in the first vehicle 10 and capable of communicating with the control device 40 via a predetermined network.

[0033] The first gyro sensor 13 as a first behavior sensor detects the behavior of the first vehicle 10, particularly the angular velocity, and outputs the detection result to the control device 40. Here, the behavior of the first vehicle 10 may further include pitch rate, roll rate, yaw rate, vertical acceleration, lateral acceleration, and longitudinal acceleration. Note that an acceleration sensor may be provided in addition to the first gyro sensor 13.

[0034] The first steering sensor 14, which is part of the behavior sensors and serves as a first steering angle sensor, detects the steering wheel angle of the first vehicle 10 due to steering operation by the user, and outputs the detection result to the control device 40.

[0035] The first wheel speed sensor 15, which is part of the behavior sensor and is used as the first vehicle speed sensor, is provided near a wheel 10a, such as a drive wheel, of the first vehicle 10, measures the rotational speed of the wheel 10a, and outputs the measured value of the rotational speed to the control device 40.

[0036] The second vehicle 20 is equipped with a second magnetic sensor 21, a second gyro sensor 23, a second steering sensor 24, and a second wheel speed sensor 25. The second vehicle 20 is coupled to the first vehicle 10 and configured to be towable by the first vehicle 10. Note that the second vehicle 20 may be provided with an output unit.

[0037] The second magnetic sensor 21, which serves as a second azimuth sensor, is a magnetic sensor that detects a magnetic field, i.e., magnetic flux density B, using two detection elements 21X and 21Y. In this embodiment, the second magnetic sensor 21 is a sensor in which the vector of the geomagnetic component points north, but this is not necessarily limited to north. It is also possible to correct the measurement value of the second magnetic sensor 21 by performing a gain correction process to correct the gain. The gain correction coefficient is a scalar or a vector.

[0038] The second gyro sensor 23 serving as a second behavior sensor detects the behavior of the second vehicle 20, particularly the angular velocity, and outputs the detection results to the control device 40. Here, the behavior of the second vehicle 20 may further include pitch rate, roll rate, yaw rate, vertical acceleration, lateral acceleration, and longitudinal acceleration. Note that an acceleration sensor may be provided in addition to the second gyro sensor 23.

[0039] The second steering sensor 24, which is part of the behavior sensors and serves as a second steering angle sensor, detects the steering wheel angle of the steering operated directly or indirectly in the second vehicle 20, and outputs the detection result to the control device 40.

[0040] The second wheel speed sensor 25, which is part of the behavior sensor and is used as a second vehicle speed sensor, is provided near a wheel 20a, such as a drive wheel, of the second vehicle 20, measures the rotational speed of the wheel 20a, and outputs the measured value of the rotational speed to the control device 40.

[0041] Next, an information processing device according to an embodiment of the present disclosure will be described. Fig. 6 is a block diagram showing the configuration of a control device 40 as an information processing device according to an embodiment. As shown in Fig. 6, the control device 40 includes a control unit and a storage unit 41. Specifically, the control unit includes a processor such as a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or an FPGA (Field-Programmable Gate Array) having hardware, and a main storage unit such as a RAM (Random Access Memory) or a ROM (Read Only Memory).

[0042] The storage unit 41 is configured from a storage medium such as an EPROM (Erasable Programmable ROM), a hard disk drive (HDD), a solid state drive (SSD), and removable media. Examples of removable media include disk storage media such as a USB (Universal Serial Bus) memory, a CD (Compact Disc), a DVD (Digital Versatile Disc), and a BD (Blu-ray (registered trademark) Disc). The storage unit 41 can store an operating system (OS), various programs, various tables, various databases, and the like. The storage unit 41 according to this embodiment stores gain correction coefficients and coupling angle information as data.

[0043] The control unit loads a program stored in the storage unit 41 into the work area of ​​the main storage unit, executes it, and performs various information processing through the execution of the program, thereby realizing various functions. That is, the control unit of the control device 40 can respectively realize the functions of the coupling angle calculation unit 42, the gain abnormality determination unit 43, the gain correction coefficient calculation unit 45, and the angle change amount estimation unit 46. The program may be a learning model or a trained model generated by machine learning or the like. The learning model or trained model can be generated by machine learning, such as deep learning using a neural network, using an input / output data set of predetermined input parameters and output parameters as training data. The learning model or trained model can also be generated by unsupervised learning.

[0044] The coupling angle calculation unit 42 acquires the measurement values ​​of the azimuth angle θ from the first magnetic sensor 11 and the second magnetic sensor 21, and calculates the angular deviation from the measurement values ​​from the first magnetic sensor 11 and the second magnetic sensor 21. FIG. 7 is a diagram for explaining the difference between the measurements from the first magnetic sensor 11 and the second magnetic sensor 21. As shown in FIGS. 5 and 7, the first magnetic sensor 11 is based on the front of the first vehicle 10. The second magnetic sensor 21 is based on the front of the second vehicle 20. Here, it is assumed that the directions of the magnetic flux density (magnetic field) assumed as compass needles in the first magnetic sensor 11 and the second magnetic sensor 21 are both oriented in the same predetermined direction, for example, north. In this case, as shown in FIG. 7, the difference between the measurement values ​​from the first magnetic sensor 11 and the second magnetic sensor 21 (detected coupling angle θ g ) is the actual connection angle (actual connection angle θ h ) coincides with (θ g =θ h In this case, the detection angle θ g If we derive the actual coupling angle θ h can be derived.

[0045] However, since there is a possibility that a malfunction may occur in the first magnetic sensor 11 and the second magnetic sensor 21, the measured values ​​of the first magnetic sensor 11 and the second magnetic sensor 21 may not indicate the same predetermined direction. In this case, the detected coupling angle θ g and the actual coupling angle θ shown in Figure 5 h (θ g ≠θ h ) Therefore, due to this deviation, the detection link angle θ g The actual connecting angle θ h In order to prevent this from being erroneously acquired, it is necessary to perform a gain abnormality determination process.

[0046] When performing the gain abnormality determination process, coupling angle calculation unit 42 stores azimuth angle information in memory unit 41, while outputting an abnormality determination request to gain abnormality determination unit 43. Upon receiving the abnormality determination request, gain abnormality determination unit 43 outputs a calculation request (correction request) for a gain correction coefficient to gain correction coefficient calculation unit 45. Upon receiving the abnormality determination request, gain abnormality determination unit 43 determines whether or not an abnormality exists, and if it determines that an abnormality exists, executes abnormality output process and outputs an abnormality output request to output unit 12 of first vehicle 10. Output unit 12 outputs information indicating that at least one of first magnetic sensor 11 and second magnetic sensor 21 has failed, i.e., that an abnormality has occurred (hereinafter, abnormality occurrence information).

[0047] The gain abnormality determination unit 43 receives azimuth angle information as a first measurement value from the first magnetic sensor 11 and azimuth angle information as a second measurement value from the second magnetic sensor 21. Having acquired the azimuth angle information, the gain abnormality determination unit 43 outputs the azimuth angle information to the gain correction coefficient calculation unit 45. The gain correction coefficient calculation unit 45 derives gain correction coefficients for the measurement values ​​of the first magnetic sensor 11 and the second magnetic sensor 21 through gain abnormality determination processing. The gain correction coefficient calculation unit 45 stores the derived gain correction coefficients in the storage unit 41. The gain correction coefficients may also be output to the coupling angle calculation unit 42.

[0048] The gain correction coefficient calculation unit 45 derives a gain correction coefficient K for the first magnetic sensor 11 and the second magnetic sensor 21. The coupling angle calculation unit 42 corrects the azimuth angle data (X, Y), which are the measurement values ​​measured by the first magnetic sensor 11 and the second magnetic sensor 21, based on the gain correction coefficient acquired from the gain correction coefficient calculation unit 45. In this way, the measurement values ​​of the first magnetic sensor 11 and the second magnetic sensor 21 are corrected, and the actual coupling angle θ is calculated based on the corrected measurement values. h In other words, the detected coupling angle θ calculated based on the corrected measurement values ​​of the first magnetic sensor 11 and the second magnetic sensor 21 is g is the actual connecting angle θ at the connecting portion 31 of the connecting mechanism 30 h Therefore, the control device 40 obtains azimuth angle information from the first magnetic sensor 11 and the second magnetic sensor 21, and obtains the gain correction coefficient calculated by the gain correction coefficient calculation unit 45, thereby determining the coupling angle θ between the first vehicle 10 and the second vehicle 20. h The gain correction coefficient may be obtained from the storage unit 41.

[0049] The angle change amount estimator 46 acquires steering angle information from the first steering sensor 14 in the first vehicle 10, and acquires speed information from the first wheel speed sensor 15. The angle change amount estimator 46 also acquires steering angle information from the second steering sensor 24 in the second vehicle 20, and acquires speed information from the second wheel speed sensor 25.

[0050] In the control device 40, the angle change amount estimation unit 46 outputs an estimate of the amount of change in the azimuth angle of the first vehicle 10 and the second vehicle 20 (hereinafter referred to as the angle change amount estimate value) to the gain abnormality determination unit 43 and the gain correction coefficient calculation unit 45. Note that the angle change amount estimation unit 46 may store the angle change amount estimate value in the memory unit 41, and the gain abnormality determination unit 43 and the gain correction coefficient calculation unit 45 may read the angle change amount estimate value from the memory unit 41. The gain abnormality determination unit 43 outputs an estimation request signal to the angle change amount estimation unit 46.

[0051] The control device 40 may include a communication unit as an information acquisition unit. The communication unit may be configured, for example, with a LAN (Local Area Network) interface board or a wireless communication circuit for wireless communication. The LAN interface board or wireless communication circuit is connected to a network such as the Internet, which is a public communication network. The communication unit of the control device 40 may be connected to a network to communicate with the first vehicle 10, the second vehicle 20, and the coupling mechanism 30. The control device 40 may also be configured integrally with the first magnetic sensor 11 and the second magnetic sensor 21.

[0052] (Connection angle calculation method) Next, a method for calculating a coupling angle using the first magnetic sensor 11 and the second magnetic sensor 21 mounted on the combination vehicle Ve according to one embodiment will be described. FIG. 8 is a flowchart for explaining the method for calculating a coupling angle according to one embodiment. The flowchart shown in FIG. 8 shows the calculation of a coupling angle θ h This is repeatedly executed while the state requiring the calculation of is continuing.

[0053] 8, first, in step ST1, the connection angle calculation unit 42 of the control device 40 outputs an abnormality determination request to the gain abnormality determination unit 43. In response, the gain abnormality determination unit 43 executes gain abnormality determination processing for the first magnetic sensor 11 and the second magnetic sensor 21. The gain abnormality determination processing will be described in detail later.

[0054] Next, the process proceeds to step ST2, where the gain abnormality determination unit 43 determines whether the first magnetic sensor 11 and the second magnetic sensor 21 are normal. That is, the gain abnormality determination unit 43 determines whether an abnormality determination flag is set. In other words, the gain abnormality determination unit 43 determines whether the coupling angle θ h Whether the calculation of the connecting angle θ is valid or not h It is determined whether a flag indicating that the calculation of is valid is set.

[0055] In step ST2 Abnormality judgment Part 43 If it is determined that the magnetic sensors 11 and 21 are normal (step ST2: Yes), the process proceeds to step ST3. In this case, the coupling angle calculation unit 42 sets a flag indicating that the magnetic sensors 11 and 21 are normal.

[0056] In step ST3, the coupling angle calculation unit 42 receives, from the first magnetic sensor 11 mounted on the first vehicle 10, the measurement value by the first magnetic sensor 11 as azimuth angle information, that is, azimuth angle data (X 11 ,Y 11 In step ST4, the second vehicle 20 acquires the azimuth angle information from the second magnetic sensor 21, that is, the azimuth angle data (X 21 ,Y 21 ) is acquired. Note that steps ST3 and ST4 may be performed in reverse order or in parallel.

[0057] Next, the process proceeds to step ST5, where the coupling angle calculation unit 42 reads out the gain correction coefficient K1 of the first magnetic sensor 11 from the storage unit 41, and calculates the measured value (X 11 ,Y 11 ) and the gain correction coefficient K1, the azimuth angle θ of the first vehicle 10 is calculated from equation (5). 11 The coupling angle calculation unit 42 calculates the derived azimuth angle θ of the first vehicle 10. 11 Next, the process proceeds to step ST6, where the coupling angle calculation unit 42 reads out the gain correction coefficient K2 of the second magnetic sensor 21 from the storage unit 41, and stores the measurement value (X 21 ,Y 21 ) and the gain correction coefficient K2, the azimuth angle θ of the second vehicle 20 is calculated from equation (5). 21 The coupling angle calculation unit 42 calculates the derived azimuth angle θ of the second vehicle 20. 21 are stored in the storage unit 41. Note that steps ST4 and ST5 may be performed in reverse order or in parallel. The order of the processing of steps ST3 to ST6 is not limited. Also, the azimuth angle data (X, Y) which is a measurement value and the azimuth angle θ (= tan -1Since (Y / X) are physical quantities that correspond to each other, they may be treated as calculated values ​​or measured values ​​synonymously.

[0058] Next, the process proceeds to step ST7, and the coupling angle calculation unit 42 calculates the azimuth angle θ of the first magnetic sensor 11. 11 and the azimuth angle θ of the second magnetic sensor 21 21 Based on this, the detected connection angle θ of the connection portion 31 of the connection mechanism 30 g Calculate the actual coupling angle θ h The calculated connection angle θ h ,θ g may be output from the output unit 12 to notify the user.

[0059] Next, the process proceeds to step ST8, where the connection angle calculation unit 42 clears the flag for requesting abnormality determination in the gain abnormality determination unit 43. As a result, the connection angle calculation unit 42 calculates the connection angle θ h A flag indicating that the calculation of is valid, that is, a flag indicating that the connection angle calculation process is valid, is set. With the above, a series of connection angle calculation processes is completed, and the process returns to step ST1.

[0060] Furthermore, if the coupling angle calculation unit 42 determines in step ST1 that the magnetic sensors 11, 21 are not normal, that is, that at least one of the first magnetic sensor 11 and the second magnetic sensor 21 is abnormal (step ST1: No), the process proceeds to step ST9.

[0061] In step ST9, the connection angle calculation unit 42 calculates the connection angle θ h is invalid, and the flag indicating that the connection angle calculation process is valid is cleared. Accordingly, the connection angle calculation unit 42 sets a flag requesting abnormality determination. With the above, the series of connection angle calculation processes is completed, and the process returns to step ST1.

[0062] (Gain abnormality determination process) Next, the gain abnormality determination process in step ST1 shown in Fig. 8 will be described. Figs. 9, 10, 11, and 12 are each a flowchart for describing a gain abnormality determination method according to an embodiment. Note that "A" and "B" in Fig. 9 transition to "A" and "B" in Fig. 10, respectively. "C" in Fig. 10 transitions to "C" in Fig. 11. "D" in Fig. 11 transitions to "D" in Fig. 12. The flowchart shown in Fig. 9 is executed when, in step ST1 shown in Fig. 8, the connection angle calculation unit 42 determines that the gain abnormality determination process has not been completed, i.e., when the flag indicating completion of the gain abnormality determination process has been cleared.

[0063] 9, in step ST11, the gain abnormality determination unit 43, to which the abnormality determination request has been input, determines whether or not the gain abnormality determination process has been completed for the first magnetic sensor 11 and the second magnetic sensor 21. In other words, the gain abnormality determination unit 43 determines whether or not a flag indicating completion of the gain abnormality determination process has been set.

[0064] If the gain abnormality determination unit 43 determines that the flag indicating completion of the gain abnormality determination process is set (step ST11: Yes), the gain abnormality determination process ends and the process proceeds to step ST2 shown in FIG.

[0065] On the other hand, if the gain abnormality determination unit 43 determines in step ST11 that the flag indicating the completion of the gain abnormality determination process is set to false (step ST11: No), the process proceeds to step ST12. When the gain abnormality determination unit 43 outputs an estimation request to the angle change amount estimation unit 46 in step ST12, the angle change amount estimation unit 46 executes the angle change amount estimation process. In step ST12, the angle change amount estimation unit 46 estimates the angle change amounts of the attitude angles of the first vehicle 10 and the second vehicle 20, and outputs angle change amount estimated values. The angle change amount estimation process will be described in detail later. Thereafter, the process proceeds to step ST13.

[0066] In step ST13, the gain abnormality determination unit 43 determines whether the azimuth angle θ from the first vehicle 10 in step ST12 was the same as the previous azimuth angle θ11 The measurement value of , i.e., the azimuth angle data (X 11 ,Y 11 ) is acquired, it is determined whether or not the estimated value of the amount of change in angle since the time of acquisition is larger than a predetermined value. Here, the predetermined value is, for example, 30 degrees (π / 6 (rad)), but is not limited to this. If the gain abnormality determination unit 43 determines that the acquired estimated value of the amount of change in angle is equal to or smaller than the predetermined value (step ST13: No), the process proceeds to step ST23 shown in FIG. 11. Step ST23 will be described later.

[0067] 9, when the gain abnormality determination unit 43 determines that the acquired angle change amount estimation value is greater than the predetermined value (step ST13: Yes), the process proceeds to step ST14. In step ST14, the gain abnormality determination unit 43 acquires the measurement value of the azimuth angle data from the first magnetic sensor 11 of the first vehicle 10, and stores the acquired measurement value of the azimuth angle in the storage unit 41 in step ST15. Thereafter, in step ST16, the gain abnormality determination unit 43 integrates the angle change amount estimation value acquired from the angle change amount estimation unit 46, and then proceeds to step ST17, where the angle change amount estimation value is cleared. As a result, the integrated value of the angle change amount estimation value is stored in the storage unit 41.

[0068] Thereafter, the process proceeds to step ST18 shown in Fig. 10, where the gain abnormality determination unit 43 determines whether or not the integrated value of the angle change amount estimated values ​​is equal to or greater than a predetermined value. Here, the predetermined value is, for example, 360 degrees (2π (rad)), but is not limited to this. If the gain abnormality determination unit 43 determines in step ST18 that the integrated value of the angle change amount estimated values ​​is less than the predetermined value (step ST18: No), the process proceeds to step ST23 shown in Fig. 11. Step ST23 will be described later.

[0069] On the other hand, as shown in FIG. 10, when the gain abnormality determination unit 43 determines that the integrated value of the angle change amount estimation value is equal to or greater than the predetermined value (step ST18: Yes), the process proceeds to step ST19. In step ST19, the gain abnormality determination unit 43 determines whether the azimuth angle data (X 11 ,Y 11 ) X-axis component X 11and the Y-axis component Y after the first magnetic sensor 11 has been rotated by 90 degrees. 11 Then, the process proceeds to step ST20, where gain abnormality determination unit 43 determines whether or not the gain correction coefficient of the first magnetic sensor is within a predetermined range.

[0070] In step ST20, the gain abnormality determination unit 43 determines whether the gain correction coefficient K1 of the first magnetic sensor 11 is outside a predetermined range. If the gain abnormality determination unit 43 determines that the gain correction coefficient K1 is within the predetermined range, that is, that the gain correction coefficient K1 is not outside the predetermined range (step ST20: No), the process proceeds to step ST22, which will be described later.

[0071] On the other hand, if the gain abnormality determination unit 43 determines in step ST20 that the gain correction coefficient K1 is not within the predetermined range, i.e., that the gain correction coefficient K1 is outside the predetermined range (step ST20: Yes), the process proceeds to step ST21. In step ST21, the gain abnormality determination unit 43 sets a flag indicating that the gain correction coefficient K1 of the first magnetic sensor 11 is abnormal, and outputs an abnormality output request to the output unit 12. After setting a flag indicating that the first magnetic sensor 11 is abnormal and outputting an abnormality output request to the output unit 12 indicating that the first magnetic sensor 11 is abnormal, the process proceeds to step ST22.

[0072] In step ST22, the gain abnormality determination unit 43 sets a flag indicating that the gain abnormality determination process for the first magnetic sensor 11 has been completed, and then the process proceeds to step ST23 shown in FIG.

[0073] As shown in FIG. 11, in step ST23, the gain abnormality determination unit 43 determines the previous azimuth angle θ 21 The measurement value of , i.e., the azimuth angle data (X 21 ,Y 21) is acquired, it is determined whether or not the estimated value of the amount of change in angle since the time of acquisition is larger than a predetermined value. Here, the predetermined value is, for example, 30 degrees (π / 6 (rad)), but is not limited to this. If the gain abnormality determination unit 43 determines that the acquired estimated value of the amount of change in angle is equal to or smaller than the predetermined value (step ST23: No), the process proceeds to step ST33 shown in FIG. 12. Step ST33 will be described later. On the other hand, as shown in FIG. 11, if the gain abnormality determination unit 43 determines that the acquired estimated value of the amount of change in angle is larger than the predetermined value (step ST23: Yes), the process proceeds to step ST24.

[0074] In step ST24, gain abnormality determination unit 43 acquires the measurement value of the azimuth angle data from second magnetic sensor 21 of second vehicle 20, and stores the acquired measurement value of the azimuth angle in storage unit 41 in step ST25. Thereafter, in step ST26, gain abnormality determination unit 43 integrates the angle change amount estimated value acquired from angle change amount estimation unit 46, and then proceeds to step ST27 to clear the angle change amount estimated value. As a result, the integrated value of the angle change amount estimated value is stored in storage unit 41. Thereafter, the process proceeds to step ST28.

[0075] When the process proceeds to step ST28, the gain abnormality determination unit 43 determines whether the integrated value of the angle change amount estimated values ​​is equal to or greater than a predetermined value. Here, the predetermined value is, for example, 360 degrees (2π (rad)), but is not limited to this. If the gain abnormality determination unit 43 determines in step ST28 that the integrated value of the angle change amount estimated values ​​is less than the predetermined value (step ST28: No), the process proceeds to step ST33 shown in FIG. 12. Step ST33 will be described later.

[0076] On the other hand, as shown in FIG. 11, if the gain abnormality determination unit 43 determines in step ST28 that the integrated value of the angle change amount estimate value is equal to or greater than the predetermined value (step ST28: Yes), the process proceeds to step ST29.

[0077] In step ST29, the gain abnormality determination unit 43 determines whether the azimuth angle data (X 21 ,Y 21 ) X-axis component X21 and the Y-axis component Y after the second magnetic sensor 21 has been rotated by 90 degrees. 21 Calculate the average value of the ratio.

[0078] Thereafter, the process proceeds to step ST30, where the gain abnormality determination unit 43 determines whether the gain correction coefficient K2 of the second magnetic sensor 21 is outside the predetermined range. If the gain abnormality determination unit 43 determines in step ST30 that the gain correction coefficient K2 is outside the predetermined range (step ST30: Yes), the process proceeds to step ST31.

[0079] In step ST31, the gain abnormality determination unit 43 sets a flag indicating that the gain correction coefficient K2 of the second magnetic sensor 21 is abnormal, and outputs an abnormality output request to the output unit 12. Furthermore, the gain abnormality determination unit 43 sets a flag indicating that the second magnetic sensor 21 is abnormal, and outputs an abnormality output request to the output unit 12, and then proceeds to step ST32.

[0080] When the gain abnormality determination unit 43 determines that the gain correction coefficient K2 is within the predetermined range, that is, the gain correction coefficient K2 is not outside the predetermined range (step ST30: No), the process proceeds to step ST32, which will be described later.

[0081] In step ST32, the gain abnormality determination unit 43 sets a flag indicating that the gain abnormality determination process for the second magnetic sensor 21 has been completed, and then the process proceeds to step ST33 shown in FIG.

[0082] 12, in step ST33, the gain abnormality determination unit 43 determines whether either the first magnetic sensor 11 or the second magnetic sensor 21 is abnormal. If the gain abnormality determination unit 43 determines that either the first magnetic sensor 11 or the second magnetic sensor 21 is abnormal (step ST33: Yes), the process proceeds to step ST34. In step ST34, the gain abnormality determination unit 43 sets a flag indicating that the magnetic sensors 11, 21 are abnormal, and then proceeds to step ST35, which will be described later.

[0083] On the other hand, if the gain abnormality determination unit 43 determines in step ST33 that neither the first magnetic sensor 11 nor the second magnetic sensor 21 is abnormal, that is, that both are normal (step ST33: No), the process proceeds to step ST35.

[0084] In step ST35, the gain abnormality determination unit 43 determines whether or not the abnormality determination for the first magnetic sensor 11 and the second magnetic sensor 21 has been completed. If the gain abnormality determination unit 43 determines that the abnormality determination for the first magnetic sensor 11 and the second magnetic sensor 21 has been completed (step ST35: Yes), the process proceeds to step ST36 and sets a flag indicating completion of the gain abnormality determination process. On the other hand, if the gain abnormality determination unit 43 determines that the abnormality determination for the first magnetic sensor 11 and the second magnetic sensor 21 has not been completed (step ST35: No), the process returns to step ST11 and repeatedly executes the gain abnormality determination process.

[0085] (Angle change amount estimation process) Next, the angle change amount estimation process in step ST12 shown in Fig. 9 will be described. Fig. 13 is a flowchart for explaining an angle change amount estimation value processing method according to one embodiment. The flowchart shown in Fig. 13 is mainly executed by the gain abnormality determination unit 43 and the angle change amount estimation unit 46.

[0086] 13, in step ST41, the angle change amount estimator 46 acquires speed information from the first wheel speed sensor 15 of the first vehicle 10 and the second wheel speed sensor 25 of the second vehicle 20. The acquired speed information is stored in the memory unit 41. Next, the process proceeds to step ST42, where the angle change amount estimator 46 calculates the travel distance of the combination vehicle Ve based on the acquired speed information and the acquired time. Information on the calculated travel distance can be stored in the memory unit 41.

[0087] Next, the process proceeds to step ST43, where the angle change amount estimation unit 46 acquires steering angle information from the first steering sensor 14 of the first vehicle 10 and the second steering sensor 24 of the second vehicle 20. The acquired steering angle information can be stored in the memory unit 41.

[0088] Next, the process proceeds to step ST44, where the angle change amount estimation unit 46 calculates the curvature of the movement of the first vehicle 10, i.e., the turning curvature of the first vehicle 10, based on the acquired steering angle information and vehicle specification information previously stored in the storage unit 41. Note that the curvature relative to the steering angle of the first vehicle 10 can be calculated using a map or the like that has been measured in advance. Furthermore, the vehicle specifications include, for example, information such as the wheelbase of the first vehicle 10 and the distance from the first vehicle 10 to the coupling part 31, but are not necessarily limited to these.

[0089] Next, the process proceeds to step ST45, where the angle change amount estimation unit 46 calculates the angle change amount of the first vehicle 10 based on the travel distance and curvature calculated for the first vehicle 10. Specifically, for example, the angle change amount estimation unit 46 calculates the angle change amount of the first vehicle 10 by calculating the product of the calculated travel distance and curvature. Thereafter, the angle change amount estimation unit 46 derives an angle estimate value (angle change amount estimate value) of the rotating attitude angle of the first vehicle 10 by integrating the calculated angle change amount from the start of the gain abnormality determination process. The angle change amount estimation unit 46 outputs the derived angle change amount estimate value to the gain abnormality determination unit 43. Note that the angle change amount estimation unit 46 may store the angle change amount estimate value in the memory unit 41, and the gain abnormality determination unit 43 may read the angle change amount estimate value from the memory unit 41. Thereafter, the process proceeds to step ST46.

[0090] In step ST46, the angle change amount estimation unit 46 calculates the curvature of the movement of the second vehicle 20, i.e., the turning curvature of the second vehicle 20, based on the acquired steering angle information and vehicle specification information previously stored in the storage unit 41. Note that the curvature relative to the steering angle of the second vehicle 20 can be calculated using a map or the like that has been measured in advance. The vehicle specifications include, for example, information such as the wheelbase of the second vehicle 20 and the distance from the coupling portion 31 to the wheel axle of the second vehicle 20, but are not necessarily limited to these.

[0091] Next, the process proceeds to step ST47, where the angle change amount estimation unit 46 calculates the angle change amount of the second vehicle 20 based on the travel distance and curvature calculated for the second vehicle 20. Specifically, for example, the angle change amount estimation unit 46 calculates the angle change amount of the second vehicle 20 by calculating the product of the calculated travel distance and the curvature. Thereafter, the angle change amount estimation unit 46 derives an angle estimate value (angle change amount estimate value) of the rotating attitude angle of the second vehicle 20 by integrating the calculated angle change amount from the start of the gain abnormality determination process. The angle change amount estimation unit 46 outputs the derived angle change amount estimate value to the gain abnormality determination unit 43. Note that the angle change amount estimation unit 46 may store the angle change amount estimate value in the storage unit 41, and the gain abnormality determination unit 43 may read out the angle change amount estimate value from the storage unit 41.

[0092] In the angle change amount estimation process according to this embodiment, steps ST41 to ST43 and steps ST44 to ST47 may be performed in reverse order or in parallel.

[0093] Thus, the coupling angle calculation process executed by the control device 40 according to the embodiment is completed. 11 ) and the measurement value of the second magnetic sensor 21 (azimuth angle θ 21 ) and the coupling angle θ of the coupling portion 31 of the coupling mechanism 30 that couples the first vehicle 10 and the second vehicle 20 h It is possible to calculate

[0094] In the embodiment described above, in a combined vehicle Ve consisting of a first vehicle 10 and a second vehicle 20 coupled to each other, a gain abnormality determination process is executed for the first magnetic sensor 11 mounted on the first vehicle 10 and the second magnetic sensor 21 mounted on the second vehicle, and if an abnormality occurs, the abnormality is notified, and if no abnormality occurs, the gain correction coefficient K is derived and the measurement value is corrected. Thus, in a combined mobile vehicle configured by coupling a plurality of mobile vehicles each equipped with a magnetic sensor, if a magnetic sensor fails, an abnormality is detected and control is stopped or the output of the magnetic sensor is corrected, thereby detecting the azimuth angle θ with high accuracy and correcting the coupling angle θh It is possible to appropriately detect the above.

[0095] Although one embodiment of the present disclosure has been specifically described above, the present disclosure is not limited to the above-described embodiment, and various modifications based on the technical ideas of the present disclosure and embodiments that combine each other may be adopted. For example, in the above-described embodiment, deep learning using a neural network is given as an example of machine learning, but machine learning based on other methods may also be performed. For example, other supervised learning methods such as support vector machines, decision trees, naive Bayes, and k-nearest neighbor methods may also be used. Furthermore, semi-supervised learning may be used instead of supervised learning. Furthermore, reinforcement learning or deep reinforcement learning may also be used as machine learning.

[0096] (Information Processing System) In another embodiment, the functions of the connection angle calculation unit 42, the gain abnormality determination unit 43, the gain correction coefficient calculation unit 45, and the angle change amount estimation unit 46 can be divided and executed by a plurality of devices that can communicate with each other via a network.

[0097] (Recording medium) In the above-described embodiment, a program capable of executing the processing method by the control device 40 can be recorded on a recording medium readable by a computer or other machine or device (hereinafter, referred to as a computer, etc.). By having a computer, etc., read and execute the program from the recording medium, the computer, etc. functions as a control unit of the control device 40. Here, a computer-readable recording medium refers to a non-transitory recording medium that stores information such as data and programs through electrical, magnetic, optical, mechanical, or chemical action and can be read by a computer, etc. Examples of such recording media that are removable from a computer, etc. include flexible disks, magneto-optical disks, CD-ROMs, CD-R / Ws, DVDs (Digital Versatile Disks), BDs, DATs, magnetic tapes, and memory cards such as flash memory. Furthermore, examples of recording media that are fixed to a computer, etc. include hard disks and ROMs. Furthermore, SSDs can be used as both recording media that are removable from a computer, etc. and recording media that are fixed to a computer, etc.

[0098] (Other embodiments) Furthermore, in the control device 40 according to the embodiment, the "unit" can be read as a "circuit" or the like. For example, the communication unit can be read as a communication circuit. Furthermore, the program executed by the control device according to the embodiment can be configured to be stored on a computer connected to a network such as the Internet and provided by being downloaded via the network.

[0099] In the explanation of the flowcharts in this specification, expressions such as "first" and "next" are used to clearly indicate the order of processing between steps, but the order of processing required to implement this embodiment is not uniquely determined by these expressions. In other words, the order of processing in the flowcharts described in this specification can be changed within a consistent range.

[0100] In addition, instead of a system with one server, edge computing technology can be applied, which distributes terminals that can execute some of the server's processing in locations physically close to the information processing device, enabling efficient communication of large amounts of data while shortening calculation processing time.

[0101] Further advantages and modifications will readily occur to those skilled in the art. The disclosure in its broader aspects is not limited to the specific details and representative embodiments shown and described above. Accordingly, various modifications may be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents. [Explanation of symbols]

[0102] 10 First car 10a,20a wheels 11 First magnetic sensor 12 Output section 13 First gyro sensor 14 First steering sensor 15 First wheel speed sensor 20 Second car 21 Second magnetic sensor 23 Second gyro sensor 24 Second steering sensor 25 Second wheel speed sensor 30 Connection mechanism 31 Connecting part 40 Control device 41 Storage section 42 Connection angle calculation part 43 Gain abnormality judgment unit 45 Gain correction coefficient calculation section 46 Angle change amount estimation unit

Claims

1. a processor; The processor: The magnetic sensor is capable of measuring the magnitude of magnetism in the X-axis direction and the Y-axis direction, which are orthogonal to each other, and the behavior sensor is capable of detecting the behavior of the mobile body. The magnetic sensor is configured to be able to input and output information between the mobile body and the behavior sensor. estimating an angle change amount of the moving object based on a detection result of the behavior of the moving object detected by the behavior sensor; acquiring a measurement value of the magnetic sensor each time the estimated value of the amount of change in angle of the moving body reaches a predetermined value; extracting at least one pair of an X-axis component along the X-axis direction and a Y-axis component along the Y-axis direction after a 90-degree change from the estimated value of the angle change amount estimated at the predetermined time point from the magnetic measurement value measured by the magnetic sensor at a predetermined time point, and calculating a correction coefficient based on a ratio between the extracted X-axis component and the extracted Y-axis component; The measurement value of the magnetic sensor is corrected by correcting one of the X-axis component and the Y-axis component of the measurement value of the magnetic sensor by the correction coefficient, thereby deriving the azimuth angle of the moving body. Information processing device.

2. The processor: If the calculated correction coefficient is less than a predetermined small gain determination threshold or greater than a predetermined large gain determination threshold, it is determined that an abnormality has occurred in the magnetic sensor; If the calculated correction coefficient is equal to or greater than the small gain determination threshold and equal to or less than the large gain determination threshold, the magnetic sensor is determined to be normal. The information processing device according to claim 1 .

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