Vehicle navigation device and control method thereof

Abstract

The present embodiment may provide a vehicle navigation device and control method capable of improving positioning accuracy and reliability by compensating for errors in inertial sensor signals when a vehicle drives for a long period of time.

Description

Vehicle navigation device and control method

[0001] The present embodiments relate to a vehicle navigation device and a control method that can improve positioning accuracy and reliability by correcting errors in inertial sensor signals of the vehicle navigation device in an area where GNSS signal reception is impossible.

[0002] In general, a vehicle navigation system (Navigation) provides the driver with various information necessary for driving, such as the vehicle's current location, moving speed, route set by the driver before driving, and the route driven, on a map displayed on the screen.

[0003] Vehicle navigation systems use satellite-based navigation and dead reckoning navigation to determine the current location of the vehicle. A GPS receiver is used for satellite navigation, and an inertial sensor (dead reckoning sensor) is used for dead reckoning.

[0004] The inertial sensor consists of an odometer sensor for extracting driving speed and driving distance and a gyroscope for extracting driving direction angle, and calculates the current position of the vehicle by calculating information on the distance traveled from the initial position to the next moment using the vehicle's speed, driving distance, and direction angle information.

[0005] This has the advantage of using its own information without external information, but the vehicle position acquired using this has an increasing error as the operation time increases, and the position measurement error has the characteristic of accumulating over time.

[0006] Accordingly, when the position error of the inertial sensor increases, the vehicle navigation system makes judgments such as deviation from the driving path or departure from the road, and there is a problem in that unnecessary warning sounds are repeatedly transmitted.

[0007] The present embodiments can provide a vehicle navigation device and control method that can improve positioning accuracy and reliability by correcting errors in inertial sensor signals when the vehicle is driven for a long period of time.

[0008] In addition, a vehicle navigation device and a control method can be provided that can improve positioning accuracy and reliability by correcting errors in inertial sensor signals of a vehicle navigation device in an area where GNSS signal reception is impossible.

[0009] In one aspect, the present embodiments may provide a vehicle navigation device including an inertial sensor unit that measures inertial information including speed, driving distance, and heading angle of a vehicle; a signal generation unit that generates a speed signal and a direction signal of the vehicle through an OBD terminal of the vehicle; and a satellite navigation positioning unit that obtains navigation information including a speed and a position of the vehicle using GNSS information or the inertial information acquired through the inertial sensor unit, corrects an error of the navigation information using the speed signal and direction signal of the signal generation unit, and outputs corrected inertial navigation information.

[0010] In another aspect, the present embodiments may provide a method for controlling a vehicle navigation device, including an inertial information measuring step in which an inertial sensor unit measures inertial information including a speed, a driving distance, and a heading angle of the vehicle; a signal generating step in which a signal generating unit generates a speed signal and a heading signal of the vehicle through an OBD terminal of the vehicle; and an inertial navigation information output step in which a satellite navigation positioning unit obtains navigation information including a speed and a position of the vehicle using GNSS information or the inertial information acquired through the inertial sensor unit, corrects an error of the navigation information using the speed signal and the heading signal of the signal generating unit, and outputs corrected inertial navigation information.

[0011] The present embodiments can provide a vehicle navigation device and control method that can improve positioning accuracy and reliability by correcting errors in inertial sensor signals when the vehicle is driven for a long period of time.

[0012] In addition, a vehicle navigation device and a control method can be provided that can improve positioning accuracy and reliability by correcting errors in inertial sensor signals of a vehicle navigation device in an area where GNSS signal reception is impossible.

[0013] FIG. 1 is a block diagram illustrating a vehicle navigation device according to one embodiment.

[0014] FIG. 2 is a block diagram illustrating a signal generation unit of a vehicle navigation device according to an embodiment.

[0015] FIG. 3 is a schematic diagram illustrating a signal generation unit of a vehicle navigation device according to one embodiment.

[0016] FIG. 4 is a diagram showing a combination of speed signals and direction signals output to two ports according to a type set in a vehicle navigation device according to one embodiment.

[0017] Figure 5 is a graph showing the resolution of CAN speed information according to one embodiment.

[0018] FIG. 6 is a flowchart for explaining a method for improving the speed resolution of a vehicle navigation device according to one embodiment.

[0019] Figure 7 is a flowchart for explaining a method for controlling a vehicle navigation device according to one embodiment.

[0020] Figure 8 is a flowchart for explaining a signal generation step of a vehicle navigation device according to one embodiment.

[0021] [Explanation of symbols]

[0022] 100: Satellite signal receiving unit 200: Inertial sensor unit

[0023] 300: Signal generation unit 310: Signal input module

[0024] 320: Speed ​​signal generation module 330: Direction signal generation module

[0025] 350: Signal output module 400: Map database

[0026] 500: Satellite navigation positioning unit 600: Control unit

[0027] 700: Display

[0028] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to exemplary drawings. When adding reference numerals to components in each drawing, identical components may have the same numerals as much as possible even if they are shown in different drawings. In addition, when describing the present embodiments, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the technical idea of ​​the present invention, the detailed description may be omitted. When "includes," "has," "consists of," etc. are used in this specification, other parts may be added unless "only" is used. When a component is expressed in the singular, it may include a case in which the plural is included unless specifically stated otherwise.

[0029] Additionally, terms such as first, second, A, B, (a), (b), etc. may be used to describe components of the present disclosure. These terms are only intended to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by the terms.

[0030] In a description of the positional relationship of components, when it is described that two or more components are "connected," "combined," or "connected," it should be understood that the two or more components may be directly "connected," "combined," or "connected," but that the two or more components may also be further "interposed" with another component to be "connected," "combined," or "connected." Here, the other component may be included in one or more of the two or more components that are "connected," "combined," or "connected" to each other.

[0031] In the description of the temporal flow relationship related to components, operation methods, or manufacturing methods, for example, when the temporal or flow relationship is described as “after”, “following”, “next to”, “before”, etc., it may also include cases where it is not continuous, unless “immediately” or “directly” is used.

[0032] Meanwhile, when numerical values ​​or corresponding information (e.g., levels, etc.) for components are mentioned, even without separate explicit description, the numerical values ​​or corresponding information may be interpreted as including an error range that may occur due to various factors (e.g., process factors, internal or external impact, noise, etc.).

[0033] FIG. 1 is a block diagram illustrating a vehicle navigation device according to one embodiment, FIG. 2 is a block diagram illustrating a signal generation unit of a vehicle navigation device according to one embodiment, FIG. 3 is a diagram schematically illustrating a signal generation unit of a vehicle navigation device according to one embodiment, FIG. 4 is a diagram illustrating a combination of a speed signal and a direction signal output to two ports according to a set type in a vehicle navigation device according to one embodiment, FIG. 5 is a graph illustrating the resolution of CAN speed information according to one embodiment, and FIG. 6 is a flowchart illustrating a method for improving the speed resolution of a vehicle navigation device according to one embodiment.

[0034] In one aspect, the present embodiment can provide a vehicle navigation device including a satellite signal receiving unit (100) that receives GNSS information; an inertial sensor unit (200) that measures inertial information including speed, driving distance, and heading angle of a vehicle; a signal generating unit (300) that generates a speed signal and a direction signal of the vehicle through an OBD terminal of the vehicle; a satellite navigation positioning unit (500) that obtains navigation information including the speed and position of the vehicle using inertial information acquired through the GNSS information or the inertial sensor unit (200), corrects an error of the navigation information using the speed signal and direction signal of the signal generating unit (300), and outputs corrected inertial navigation information; a control unit (600) that provides a driving route to a destination through map matching of inertial navigation information and a map database (400); and a display unit (700) that displays the driving route map-matched by the control unit (600) on a digital map.

[0035] The embodiments are described in detail with reference to the drawings below.

[0036] The satellite signal receiving unit (100) receives GNSS (Global Navigation Satellite System) information from a satellite through an antenna (ANT), and can obtain GNSS information using the signal sent from the satellite.

[0037] The GNSS information acquired by the satellite signal receiving unit (100) may include a measurement location, a distance between at least one satellite and the vehicle, and a location of at least one satellite.

[0038] The inertial sensor unit (200) can measure inertial information including the vehicle's speed, driving distance, and heading angle.

[0039] Such an inertial sensor unit (200) may be composed of an odometer sensor for extracting the vehicle's driving speed and driving distance and a gyroscope for extracting the direction angle.

[0040] The signal generation unit (300) can generate a vehicle speed signal and direction signal through the vehicle's OBD (On-Board Diagnostics) terminal.

[0041] The OBD terminal is a terminal that can be used to check vehicle status as well as fuel efficiency and acceleration information by connecting a scanning device. Vehicle Speed, Mode: 0x01, PID: 0x0D that can be obtained through the OBD terminal are displayed as 1 byte in the range of 0 to 255 km / h, and the speed information can be output with a resolution of 1 km / h as shown in Fig. 5.

[0042] At this time, the speed information has an error of up to 1 km / h compared to the actual speed, and has a large error rate in the low-speed section, so it can be generated as a high-resolution speed signal through a speed resolution improvement method.

[0043] Here are some ways to improve speed and resolution:

[0044] Referring to Figure 6, periodically read When there is no change, integrate the value read through the accelerometer. Renew.

[0045] When there is a change in cast It can be initialized. However, in case of backward, Since a positive value is output, a negative value is substituted.

[0046] To prevent accelerometer accumulation error when stopped, in case of less than 1 km / h Failure to perform renewal.

[0047] Here, is the speed information (CAN speed information) acquired through the OBD terminal at time t. is the speed signal (VMS speed information) output from the signal generation unit at time t, A(t) is the acceleration information at time t, and D(t) is the gear status information (direction information) at time t.

[0048] And, the method for entering gear status information is as follows.

[0049] When gear status information is provided, if the gear is reverse, D(t) is judged as reverse, and if the gear is not reverse, D(t) is judged as forward.

[0050] If gear status information is not provided, The driving direction is determined based on the sign of the value.

[0051] In this way, the signal generation unit (300) can be connected to the OBD terminal of the vehicle through the OBD terminal connector to obtain OBD information including the vehicle's speed and gear status, and can generate a pulse-type speed signal by improving the speed resolution using the speed information and accelerometer information, and can generate a direction signal for forward or backward using the gear status information.

[0052] More specifically, the signal generation unit (300) may include a signal input module (310) that receives vehicle speed information and gear state information through the vehicle's OBD terminal; a speed signal generation module (320) that improves speed resolution using speed information and accelerometer information and generates a pulse-type speed signal; a direction signal generation module (330) that generates a direction signal for forward or backward using gear state information; and a signal output module (350) that combines the speed signal and the direction signal and outputs the combined signal to a plurality of ports connected to a satellite navigation positioning unit (500).

[0053] The signal input module (310) can obtain vehicle speed information and gear status information through the vehicle's OBD terminal and transmit them to the speed signal generation module (320).

[0054] The speed signal generation module (320) can improve the speed resolution by using the speed information and accelerometer information transmitted from the signal input module (310), and generate a speed signal in the form of a pulse and transmit it to the signal output module (350).

[0055] Additionally, the direction signal generation module (330) can generate a direction signal for forward or backward movement using gear status information transmitted from the signal input module (310) and transmit it to the signal output module (350).

[0056] In addition, the signal output module (350) can combine the speed signal transmitted from the speed signal generation module (320) and the direction signal transmitted from the direction signal generation module (330) and output them to multiple ports connected to the satellite navigation positioning unit (500).

[0057] At this time, the signal output module (350) can combine the speed signal and the direction signal according to the set type and output them to two ports.

[0058] In this embodiment, as shown in Fig. 4, a state in which the form of a signal (VMS signal) output to two ports (VMS ports) is set to a first type (VMS type 1), a second type (VMS type 2), and a third type (VMS type 3) is described as an example.

[0059] Here, the shape and scale factor of the VMS signal are set by the user, and the speed signal generated in the signal generation unit can be converted into frequency and input to each port.

[0060] For example, as illustrated in FIG. 4, the signal output module (350) can output the generated speed signal of the speed signal generation module (320) to one of the two ports according to the first type, and output the generated direction signal of the direction signal generation module (330) to the other port.

[0061] Here, the direction signal generation module (330) can output a direction signal as high when the gear state information is input as forward from the signal input module (310), and can output a direction signal as low when the gear state information is input as reverse from the signal input module (310).

[0062] That is, when the set type is the first type, if the gear state information is input as forward from the signal input module (310), the first port can output the generated speed signal of the speed signal generation module (320), and the second port can output the direction signal of the direction signal generation module (330) as high.

[0063] Conversely, if the set type is the first type, and the gear state information is input as reverse in the signal input module (310), the first port can output the generated speed signal of the speed signal generation module (320), and the second port can output the direction signal of the direction signal generation module (330) as low.

[0064] As another example, as illustrated in FIG. 4, when the signal output module (350) receives forward gear state information from the signal input module (310) according to the second type, it can output a generated speed signal of the speed signal generation module (320) to one of the two ports and output a high or low signal to the other, and when the signal input module (310) receives backward gear state information, it can output a high or low signal to one of the two ports and output a generated speed signal of the speed signal generation module (320) to the other.

[0065] That is, when the set type is the second type, if the gear status information is input as forward from the signal input module (310), the first port outputs the generated speed signal from the speed signal generation module (320), and the second port can output a high or low signal.

[0066] Conversely, if the set type is the second type, when the gear status information is input in reverse from the signal input module (310), the first port can output a high or low signal, and the second port can output the speed signal generated by the speed signal generation module (320).

[0067] As another example, as illustrated in FIG. 4, when the signal output module (350) receives forward gear state information from the signal input module (310) according to the third type, it can output the generated speed signal of the speed signal generation module (320) to one of the two ports and output a speed signal with a phase difference of 90 degrees behind the speed signal to the other port, and when the signal input module (310) receives backward gear state information, it can output the generated speed signal of the speed signal generation module (320) to one of the two ports and output a speed signal with a phase difference of 90 degrees ahead of the speed signal to the other port.

[0068] That is, when the set type is the third type, if the gear state information is input as forward from the signal input module (310), the first port outputs the speed signal generated by the speed signal generation module (320), and the second port can output a speed signal with a phase difference of 90 degrees behind the speed signal of the first port.

[0069] Conversely, if the set type is the third type, when the gear state information is input in reverse from the signal input module (310), the first port outputs the speed signal generated by the speed signal generation module (320), and the second port can output a speed signal with a phase difference 90 degrees ahead of the speed signal of the first port.

[0070] Continuing, the satellite navigation positioning unit (500) can obtain navigation information including the speed and position of the vehicle by using the GNSS information acquired through the satellite signal receiving unit (100) and the inertial information acquired through the inertial sensor unit (200), correct errors in the navigation information by using the speed signal and direction signal of the signal generating unit (300), and output corrected inertial navigation information.

[0071] In addition, the control unit (600) can provide a driving route to the destination through inertial navigation information and map matching of the map database (400).

[0072] At this time, the display unit (700) can display the map-matched driving route in the control unit (600) as a digital map.

[0073] Additionally, the display unit (700) can also display the form of the VMS signal set by the user, the scale factor, and the linkage status.

[0074] Here, the display unit (700) may be implemented with at least one or more of output devices such as a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a flexible display, a 3D display, a transparent display, a head-up display (HUD), a touch screen, and a cluster.

[0075] Additionally, the display unit (700) may include an audio output module such as a speaker capable of outputting audio data.

[0076] FIG. 7 is a flowchart for explaining a control method of a vehicle navigation device according to one embodiment, and FIG. 8 is a flowchart for explaining a signal generation step of a vehicle navigation device according to one embodiment.

[0077] In another aspect, the present embodiments include a GNSS information receiving step (S810) in which a satellite signal receiving unit (100) receives GNSS information; an inertial information measuring step (S820) in which an inertial sensor unit (200) measures inertial information including a speed, a driving distance, and a heading angle of a vehicle; a signal generating step (S830) in which a signal generating unit (300) generates a speed signal and a direction signal of the vehicle through an OBD terminal of the vehicle; an inertial navigation information output step (S840) in which a satellite navigation positioning unit (500) obtains navigation information including a speed and a position of the vehicle using GNSS information or inertial information acquired through the inertial sensor unit (200), corrects an error of the navigation information using the speed signal and the direction signal of the signal generating unit (300), and outputs corrected inertial navigation information; a driving route providing step (S850) in which a control unit (600) provides a driving route to a destination through inertial navigation information and a map matching of a map database (400); And the display unit (700) can provide a control method of a vehicle navigation device including a driving route display step (S860) in which the control unit (600) displays the map-matched driving route on a digital map.

[0078] The embodiments are described in detail with reference to the drawings below.

[0079] In the GNSS information receiving step (S810), the satellite signal receiving unit (100) receives GNSS information from a satellite through an antenna (ANT), and GNSS information can be obtained using the signal sent from the satellite.

[0080] The GNSS information acquired by the satellite signal receiving unit (100) may include a measurement location, a distance between at least one satellite and the vehicle, and a location of at least one satellite.

[0081] In the inertial information measurement step (S820), the inertial sensor unit (200) can measure inertial information including the vehicle's speed, driving distance, and heading angle.

[0082] Such an inertial sensor unit (200) may be composed of an odometer sensor for extracting the vehicle's driving speed and driving distance and a gyroscope for extracting the direction angle.

[0083] The signal generation step (S830) can generate a speed signal and a direction signal of the vehicle through the signal generation unit (300) of the vehicle through the OBD (On-Board Diagnostics) terminal of the vehicle.

[0084] The OBD terminal is a terminal that can be used to check vehicle status as well as fuel efficiency and acceleration information by connecting a scanning device, and the signal generation unit (300) can generate the vehicle's speed signal and direction signal through this.

[0085] Accordingly, in the signal generation step (S830), the signal generation unit (300) is connected to the OBD terminal of the vehicle through the OBD terminal connector to obtain OBD information including the vehicle's speed and gear status.

[0086] And, in the signal generation step (S830), the signal generation unit (300) can generate a pulse-type speed signal by improving the speed resolution using speed information and accelerometer information, and can generate a direction signal for forward or backward using gear status information.

[0087] In more detail, the signal generation step (S830) may include a signal input step (S832) in which the signal input module (310) of the signal generation unit (300) receives speed information and gear state information of the vehicle through the OBD terminal of the vehicle; a speed signal generation step (S834) in which the speed signal generation module (320) of the signal generation unit (300) uses speed information and accelerometer information to improve speed resolution and generates a pulse-type speed signal; a direction signal generation step (S836) in which the direction signal generation module (330) of the signal generation unit (300) uses gear state information to generate a direction signal for forward or backward; and a signal output step (S838) in which the signal output module (350) of the signal generation unit (300) combines the speed signal and the direction signal and outputs the combined signal to a plurality of ports connected to the satellite navigation positioning unit (500).

[0088] In the signal input stage (S832), the signal input module (310) can obtain the vehicle's speed information and gear status information through the vehicle's OBD terminal and transmit them to the speed signal generation module (320).

[0089] In the speed signal generation step (S834), the speed signal generation module (320) can improve the speed resolution by using the speed information and accelerometer information transmitted from the signal input module (310), and generate a speed signal in the form of a pulse and transmit it to the signal output module (350).

[0090] In the direction signal generation step (S836), the direction signal generation module (330) can generate a direction signal for forward or backward movement using the gear status information transmitted from the signal input module (310) and transmit it to the signal output module (350).

[0091] And, in the signal output step (S838), the signal output module (350) can combine the speed signal transmitted from the speed signal generation module (320) and the direction signal transmitted from the direction signal generation module (330) and output them to multiple ports connected to the satellite navigation positioning unit (500).

[0092] At this time, in the signal output step (S838), the signal output module (350) can combine the speed signal and the direction signal according to the set type and output them to two ports.

[0093] For example, in the signal output step (S838), the signal output module (350) can output the generated speed signal of the speed signal generation module (320) to one of the two ports according to the first type, and the generated direction signal of the direction signal generation module (330) to the other port.

[0094] Here, the direction signal generation module (330) can output a direction signal as high when the gear state information is input as forward from the signal input module (310), and can output a direction signal as low when the gear state information is input as reverse from the signal input module (310).

[0095] As another example, in the signal output step (S838), when the signal output module (350) receives forward gear state information from the signal input module (310) according to the second type, it may output the generated speed signal of the speed signal generation module (320) to one of the two ports and output a high or low signal to the other, and when the signal input module (310) receives backward gear state information, it may output a high or low signal to one of the two ports and output the generated speed signal of the speed signal generation module (320) to the other.

[0096] As another example, in the signal output step (S838), when the signal output module (350) receives the gear state information from the signal input module (310) in a forward direction according to the type, the generated speed signal of the speed signal generation module (320) may be output to one of the two ports, and a speed signal may be output to the other port so that the phase difference is 90 degrees behind the speed signal, and when the signal input module (310) receives the gear state information in a backward direction, the generated speed signal of the speed signal generation module (320) may be output to one of the two ports, and a speed signal may be output to the other port so that the phase difference is 90 degrees ahead of the speed signal.

[0097] The inertial navigation information output step (S840) can obtain navigation information including the speed and position of the vehicle by using the GNSS information acquired through the satellite signal receiving unit (100) and the inertial information acquired through the inertial sensor unit (200) by the satellite navigation positioning unit (500), correct the error of the navigation information by using the speed signal and direction signal of the signal generating unit (300), and output the corrected inertial navigation information.

[0098] And, in the driving route provision step (S850), the control unit (600) can provide a driving route to the destination through inertial navigation information and map matching of the map database (400).

[0099] Afterwards, in the driving route display step (S860), the display unit (700) can display the driving route matched to the map in the control unit (600) as a digital map.

[0100] According to the embodiments as described above, when a vehicle is driven for a long period of time, the positioning accuracy and reliability can be improved by compensating for errors in the inertial sensor signal.

[0101] The above description is merely an illustrative example of the technical idea of ​​the present disclosure, and those skilled in the art to which the present disclosure pertains will appreciate that various modifications and variations can be made without departing from the essential characteristics of the technical idea of ​​the present disclosure. In addition, the present embodiments are not intended to limit the technical idea of ​​the present disclosure but rather to explain it, and therefore the scope of the technical idea of ​​the present disclosure is not limited by these embodiments. The scope of protection of the present disclosure should be interpreted by the claims below, and all technical ideas within a scope equivalent thereto should be interpreted as being included within the scope of the rights of the present disclosure.

[0102]

[0103] CROSS-REFERENCE TO RELATED APPLICATION

[0104] This patent application claims priority under 35 USC §119(a) to Korean Patent Application No. 10-2024-0011644, filed in Korea on January 25, 2024, and Korean Patent Application No. 10-2024-0061624, filed in Korea on May 10, 2024, the entire contents of which are incorporated herein by reference. This patent application also claims priority in countries other than the United States for the same reasons, the entire contents of which are incorporated herein by reference.

Claims

1. An inertial sensor unit that measures inertial information including the vehicle's speed, driving distance, and heading angle; A signal generating unit that generates a speed signal and a direction signal of the vehicle through the OBD terminal of the vehicle; and A satellite navigation positioning unit that obtains navigation information including the speed and position of the vehicle by using GNSS information or the inertial information acquired through the inertial sensor unit, corrects errors in the navigation information by using the speed signal and direction signal of the signal generating unit, and outputs corrected inertial navigation information; A vehicle navigation system including:

2. In paragraph 1, A control unit that provides a driving route to the destination through the above inertial navigation information and map matching of the map database; and A display unit that displays the map-matched driving route on a digital map in the above control unit; A vehicle navigation system further comprising:

3. In paragraph 1, The signal generation unit is A signal input module that receives speed information and gear status information of the vehicle through the OBD terminal of the vehicle; A speed signal generation module that improves speed resolution by using the above speed information and accelerometer information and generates a speed signal in the form of a pulse; A direction signal generation module that generates a direction signal for forward or reverse movement using the above gear status information; and A signal output module that combines the direction signal and the speed signal and outputs them to multiple ports connected to the satellite navigation positioning unit; A vehicle navigation system including:

4. In paragraph 3, The above signal output module, A vehicle navigation device that combines the direction signal and the speed signal according to the set type and outputs them to two ports.

5. In paragraph 4, The above signal output module, A vehicle navigation device that outputs a generated speed signal of the speed signal generation module to one of the two ports according to the type, and outputs a generated direction signal of the direction signal generation module to the other port.

6. In paragraph 5, The above direction signal generation module, A vehicle navigation device that outputs the direction signal as high when the gear status information is input as forward from the signal input module.

7. In paragraph 5, The above direction signal generation module, A vehicle navigation device that outputs the direction signal as low when the gear status information is input as reverse from the signal input module.

8. In paragraph 4, The above signal output module, When the gear status information is input forward from the signal input module according to the type, the generated speed signal of the speed signal generation module is output to one of the two ports, and a high or low signal is output to the other. A vehicle navigation device that, when receiving reverse gear status information from the signal input module, outputs a high or low signal to one of the two ports and outputs a speed signal generated by the speed signal generation module to the other port.

9. In paragraph 4, The above signal output module, When the gear status information is input forward from the signal input module according to the type, the generated speed signal of the speed signal generation module is output to one of the two ports, and the other port outputs a speed signal with a phase difference of 90 degrees behind the speed signal. A vehicle navigation device that, when receiving gear status information in reverse from the signal input module, outputs a speed signal generated by the speed signal generation module to one of the two ports, and outputs a speed signal with a phase difference 90 degrees ahead of the speed signal to the other port.

10. Inertial information measurement step in which the inertial sensor unit measures inertial information including the vehicle's speed, driving distance, and heading angle; A signal generation step in which a signal generation unit generates a speed signal and a direction signal of the vehicle through the OBD terminal of the vehicle; and An inertial navigation information output step in which a satellite navigation positioning unit obtains navigation information including the speed and position of the vehicle by using the GNSS information or the inertial information acquired through the inertial sensor unit, corrects an error of the navigation information by using the speed signal and direction signal of the signal generating unit, and outputs corrected inertial navigation information; A method for controlling a vehicle navigation device including a .

11. In paragraph 10, A driving route provision step in which the control unit provides a driving route to the destination through the inertial navigation information and map matching of the map database; and A driving route display step in which a display unit displays a driving route matched to a map by the control unit as a digital map; A method for controlling a vehicle navigation device including a .

12. In paragraph 10, In the above signal generation step, A signal input step in which the signal input module of the signal generation unit receives speed information and gear status information of the vehicle through the OBD terminal of the vehicle; A speed signal generation step in which a speed signal generation module of the signal generation unit uses the speed information and accelerometer information to improve speed resolution and generate a speed signal in the form of a pulse; A direction signal generation step in which the direction signal generation module of the signal generation unit generates a direction signal for forward or backward movement using the gear status information; and A signal output step in which a signal output module of the signal generation unit combines the direction signal and the speed signal and outputs the combined signal to a plurality of ports connected to the satellite navigation positioning unit; A method for controlling a vehicle navigation device including a .

13. In paragraph 12, In the above signal output stage, A control method for a vehicle navigation device that combines the direction signal and the speed signal according to the type set by the signal output module and outputs them to two ports.

14. In paragraph 13, In the above signal output stage, A control method for a vehicle navigation device, wherein the signal output module outputs the generated speed signal of the speed signal generation module to one of the two ports according to the type, and outputs the generated direction signal of the direction signal generation module to the other port.

15. In paragraph 14, The above direction signal generation module, A control method for a vehicle navigation device that outputs the direction signal as high when the gear status information is input as forward from the signal input module.

16. In paragraph 14, The above direction signal generation module, A control method for a vehicle navigation device that outputs the direction signal as low when the gear status information is input as reverse from the signal input module.

17. In paragraph 13, In the above signal output stage, A control method for a vehicle navigation device, wherein when the signal output module receives forward gear status information from the signal input module according to the type, the generated speed signal of the speed signal generation module is output to one of the two ports, and a high or low signal is output to the other, and when the signal input module receives backward gear status information, the generated speed signal of the speed signal generation module is output to one of the two ports, and the generated speed signal of the speed signal generation module is output to the other.

18. In paragraph 13, In the above signal output stage, A control method for a vehicle navigation device, wherein when the signal output module receives forward gear status information from the signal input module according to the type, the generated speed signal of the speed signal generation module is output to one of the two ports, and the speed signal is output to the other port so that the phase difference is 90 degrees behind the speed signal, and when the signal input module receives backward gear status information, the generated speed signal of the speed signal generation module is output to one of the two ports, and the speed signal is output to the other port so that the phase difference is 90 degrees ahead of the speed signal.

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