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    • 3. 发明授权
    • Method and apparatus for estimating behaviors of vehicle using GPS signals
    • 使用GPS信号估计车辆行为的方法和装置
    • US07885765B2
    • 2011-02-08
    • US11881173
    • 2007-07-26
    • Minoru OkadaMamoru SawadaTakehito FujiiHiromichi Tanaka
    • Minoru OkadaMamoru SawadaTakehito FujiiHiromichi Tanaka
    • G01C21/00
    • G01C21/28G01C21/165
    • A method and an apparatus for estimating behaviors of a vehicle are provided. At least two GPS antennas are located along a longitudinal axis of a vehicle so that speed vectors at the positions where the GPS antennas are located can be determined based on GPS signals received by the GPS antennas. The speed vectors are known to be estimated with high accuracy based on the GPS signals. The positions of the GPS antennas on the local coordinate system are estimated based on such highly accurate speed vectors, so that the estimated positions may also have high accuracy. Based on a line connecting these highly accurate positions of the GPS antennas, an inclination of the longitudinal axis of the vehicle is estimated. Use of the high-accuracy speed vectors enables high-accuracy estimation on the positions of the GPS antennas and the vehicle direction on the local coordinate system.
    • 提供了一种用于估计车辆行为的方法和装置。 至少两个GPS天线沿着车辆的纵向轴线定位,使得可以基于GPS天线接收的GPS信号确定GPS天线所在位置处的速度矢量。 已知基于GPS信号以高精度估计速度矢量。 基于这种高精度的速度矢量来估计GPS天线在局部坐标系上的位置,使得估计的位置也可以具有高精度。 基于连接GPS天线的这些高精度位置的线路,估计车辆的纵向轴线的倾斜度。 使用高精度的速度矢量能够对GPS天线的位置和局部坐标系上的车辆方向进行高精度估计。
    • 4. 发明授权
    • Method and apparatus for estimating behaviors of vehicle using GPS signals
    • 使用GPS信号估计车辆行为的方法和装置
    • US08170797B2
    • 2012-05-01
    • US12928806
    • 2010-12-20
    • Minoru OkadaMamoru SawadaTakehito FujiiHiromichi Tanaka
    • Minoru OkadaMamoru SawadaTakehito FujiiHiromichi Tanaka
    • G06F19/00
    • G01C21/28G01C21/165
    • A method and an apparatus for estimating behaviors of a vehicle are provided. At least two GPS antennas are located along a longitudinal axis of a vehicle so that speed vectors at the positions where the GPS antennas are located can be determined based on GPS signals received by the GPS antennas. The speed vectors are known to be estimated with high accuracy based on the GPS signals. The positions of the GPS antennas on the local coordinate system are estimated based on such highly accurate speed vectors, so that the estimated positions may also have high accuracy. Based on a line connecting these highly accurate positions of the GPS antennas, an inclination of the longitudinal axis of the vehicle is estimated. Use of the high-accuracy speed vectors enables high-accuracy estimation on the positions of the GPS antennas and the vehicle direction on the local coordinate system.
    • 提供了一种用于估计车辆行为的方法和装置。 至少两个GPS天线沿着车辆的纵向轴线定位,使得可以基于GPS天线接收的GPS信号确定GPS天线所在位置处的速度矢量。 已知基于GPS信号以高精度估计速度矢量。 基于这种高度准确的速度矢量来估计GPS天线在局部坐标系上的位置,使得估计的位置也可以具有高精度。 基于连接GPS天线的这些高精度位置的线路,估计车辆的纵向轴线的倾斜度。 使用高精度的速度矢量能够对GPS天线的位置和局部坐标系上的车辆方向进行高精度估计。
    • 6. 发明申请
    • Method and apparatus for estimating behaviors of vehicle using GPS signals
    • 使用GPS信号估计车辆行为的方法和装置
    • US20080027645A1
    • 2008-01-31
    • US11881173
    • 2007-07-26
    • Minoru OkadaMamoru SawadaTakehito FujiiHiromichi Tanaka
    • Minoru OkadaMamoru SawadaTakehito FujiiHiromichi Tanaka
    • G01C21/28
    • G01C21/28G01C21/165
    • A method and an apparatus for estimating behaviors of a vehicle are provided. At least two GPS antennas are located along a longitudinal axis of a vehicle so that speed vectors at the positions where the GPS antennas are located can be determined based on GPS signals received by the GPS antennas. The speed vectors are known to be estimated with high accuracy based on the GPS signals. The positions of the GPS antennas on the local coordinate system are estimated based on such highly accurate speed vectors, so that the estimated positions may also have high accuracy. Based on a line connecting these highly accurate positions of the GPS antennas, an inclination of the longitudinal axis of the vehicle is estimated. Use of the high-accuracy speed vectors enables high-accuracy estimation on the positions of the GPS antennas and the vehicle direction on the local coordinate system.
    • 提供了一种用于估计车辆行为的方法和装置。 至少两个GPS天线沿着车辆的纵向轴线定位,使得可以基于GPS天线接收的GPS信号确定GPS天线所在位置处的速度矢量。 已知基于GPS信号以高精度估计速度矢量。 基于这种高精度的速度矢量来估计GPS天线在局部坐标系上的位置,使得估计的位置也可以具有高精度。 基于连接GPS天线的这些高精度位置的线路,估计车辆的纵向轴线的倾斜度。 使用高精度的速度矢量能够对GPS天线的位置和局部坐标系上的车辆方向进行高精度估计。
    • 9. 发明授权
    • Acceleration control system
    • 加速控制系统
    • US08131443B2
    • 2012-03-06
    • US12214979
    • 2008-06-24
    • Hiroshi InouMinoru OkadaSeiji Totsuka
    • Hiroshi InouMinoru OkadaSeiji Totsuka
    • B60K31/00
    • B60K31/00B60W30/14B60W2050/0057
    • An acceleration control system controls acceleration of a vehicle to match the driver's feeling. In this control, the vehicle is controlled so that acceleration remains constant at the initial stage and then a differentiated value of a square power of a vehicle speed remains constant. This control is based on the finding of a normal acceleration operation attained by a driver. A linear relation exists between the acceleration in the initial stage of acceleration and the differentiated value of the square power of the speed. Switching of control from the constant acceleration to the constant differentiated value of the square power of the speed is made at a change-over speed determined by the linear relation.
    • 加速控制系统控制车辆的加速度以匹配驾驶员的感觉。 在该控制中,控制车辆使得加速度在初始阶段保持恒定,然后车速的平方功率的微分值保持恒定。 该控制基于驾驶员获得的正常加速操作的发现。 加速初始加速度与速度平方功率的微分值之间存在线性关系。 在由线性关系确定的转换速度下,将控制从恒定加速度切换到速度的平方功率的恒定微分值。