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11. 发明授权

US09057781B2 Position estimation device and position estimation method 有权
标题翻译：位置估计装置和位置估计方法
公开(公告)号：US09057781B2
公开(公告)日：2015-06-16
申请号：US13029570
申请日：2011-02-17
申请人： Mikio Bando , Toshiyuki Aoki , Tomoaki Hiruta , Takayoshi Yokota , Hiroyuki Kohida , Kazuhiro Okada , Zhixing Liu
发明人： Mikio Bando , Toshiyuki Aoki , Tomoaki Hiruta , Takayoshi Yokota , Hiroyuki Kohida , Kazuhiro Okada , Zhixing Liu
IPC分类号： G06F17/10 , G01S19/40 , G01S19/49
CPC分类号： G01S19/49 , G01S19/40
摘要： A position estimation device includes: a mathematical expression model processing unit that calculates a position of a mobile object, a condition quantity indicating a moving condition of the mobile object and an error in the condition quantity through filtering processing executed by using a probability model based upon an attitude information and a positioning information of the mobile object having been obtained from sensors and a specific mathematical expression model among a plurality of mathematical expression models expressing behavior of the mobile object; a threshold calculation unit that calculates a threshold candidate value for a threshold value to be used as a criterion when selecting the specific mathematical expression model, by using the error; a threshold value determining unit that determines the threshold value based upon the threshold candidate value; and a mathematical expression model selection unit that selects the specific mathematical expression model based upon the threshold value.
摘要翻译：位置估计装置包括：数学表达式模型处理单元，其通过使用基于以下的概率模型执行的滤波处理来计算移动体的位置，表示移动体的移动状态的状态量和状态量的误差已经从表示该移动体的行为的多个数学表达式模型中的传感器和特定数学表达式模型获得了移动对象的姿态信息和定位信息; 阈值计算单元，其通过使用所述误差来计算在选择所述特定数学表达式模型时用作准则的阈值的阈值候选值; 阈值确定单元，其基于所述阈值候选值来确定所述阈值; 以及基于所述阈值选择所述特定数学表达式模型的数学表达式模型选择单元。

12. 发明申请

US20100324815A1 POSITION DETECTION APPARATUS AND POSITION DETECTION PROGRAM 有权
标题翻译：位置检测装置和位置检测程序
公开(公告)号：US20100324815A1
公开(公告)日：2010-12-23
申请号：US12818435
申请日：2010-06-18
申请人： Tomoaki HIRUTA , Toshiyuki Aoki , Takayoshi Yokota , Mikio Bando , Kazuhiro Okada
发明人： Tomoaki HIRUTA , Toshiyuki Aoki , Takayoshi Yokota , Mikio Bando , Kazuhiro Okada
IPC分类号： G01C21/26
CPC分类号： G01C21/30
摘要： A position detection apparatus includes a storage unit for storing map information including road information; a detection unit for detecting information for calculating an absolute position of a moving object; a position calculation unit for calculating the absolute position of the moving object and an error variance relating to an error of the moving object from the detected information; a read-out unit for reading out from the storage unit the road information of a road relating to the calculated absolute position; an existence probability calculation unit for calculating an existence probability of the moving object existing on the road from the absolute position, the error variance, and the read-out road information; a selection unit for selecting a position whose existence probability is maximum out of the calculated existence probability; and a map-matching processing unit for making the selected position a position of the moving object on the road.
摘要翻译：位置检测装置包括：存储单元，用于存储包括道路信息的地图信息; 检测单元，用于检测用于计算移动物体的绝对位置的信息; 位置计算单元，用于根据检测到的信息计算移动物体的绝对位置和与移动物体的误差有关的误差方差; 读出单元，用于从存储单元读出与所计算的绝对位置相关的道路的道路信息; 存在概率计算单元，用于从绝对位置，误差变化和读出道路信息计算存在于道路上的移动物体的存在概率; 选择单元，用于从所计算的存在概率中选择存在概率最大的位置; 以及地图匹配处理单元，用于使所选择的位置在道路上移动物体的位置。

13. 发明申请

US20140067256A1 Position Calculation Method and Position Calculation Apparatus 有权
标题翻译：位置计算方法和位置计算装置
公开(公告)号：US20140067256A1
公开(公告)日：2014-03-06
申请号：US14111117
申请日：2012-04-11
申请人： Toshiyuki Aoki , Mikio Bando , Tomoaki Hiruta , Hiroyuki Kohida , Koichi Kato , Akihiro Kawabata
发明人： Toshiyuki Aoki , Mikio Bando , Tomoaki Hiruta , Hiroyuki Kohida , Koichi Kato , Akihiro Kawabata
IPC分类号： G01C21/30
CPC分类号： G01C21/30
摘要： A position calculation method includes: by using a current position of a mobile object, a link candidate point position, an error variance of positions of a plurality of links included in a region around the current position, and an error variance of azimuths of the plurality of links, calculating, an evaluation value that corresponds to a probability that the mobile object is traveling upon a road corresponding to each link candidate point, for each link including the each link candidate point; and calculating the current position based upon the evaluation value, by taking the mobile object as being positioned at a link candidate point, among a plurality of link candidate points, for which the probability is highest.
摘要翻译：位置计算方法包括：通过使用移动对象的当前位置，链路候补点位置，包括在当前位置周围的区域中的多个链接的位置的误差方差和多个方位角的误差方差对于包括每个链路候补点的每个链路，计算对应于移动对象在与每个链路候补点相对应的道路上行驶的概率的评估值; 并且通过将所述移动对象位于链路候补点处，在所述概率最高的多个链路候补点之中，基于所述评估值来计算当前位置。

14. 发明授权

US08301369B2 Position detection apparatus and position detection program 有权
标题翻译：位置检测装置和位置检测程序
公开(公告)号：US08301369B2
公开(公告)日：2012-10-30
申请号：US12818435
申请日：2010-06-18
申请人： Tomoaki Hiruta , Toshiyuki Aoki , Takayoshi Yokota , Mikio Bando , Kazuhiro Okada
发明人： Tomoaki Hiruta , Toshiyuki Aoki , Takayoshi Yokota , Mikio Bando , Kazuhiro Okada
IPC分类号： G01C21/00
CPC分类号： G01C21/30
摘要： A position detection apparatus includes a storage unit for storing map information including road information; a detection unit for detecting information for calculating an absolute position of a moving object; a position calculation unit for calculating the absolute position of the moving object and an error variance relating to an error of the moving object from the detected information; a read-out unit for reading out from the storage unit the road information of a road relating to the calculated absolute position; an existence probability calculation unit for calculating an existence probability of the moving object existing on the road from the absolute position, the error variance, and the read-out road information; a selection unit for selecting a position whose existence probability is maximum out of the calculated existence probability; and a map-matching processing unit for making the selected position a position of the moving object on the road.
摘要翻译：位置检测装置包括：存储单元，用于存储包括道路信息的地图信息; 检测单元，用于检测用于计算移动物体的绝对位置的信息; 位置计算单元，用于根据检测到的信息计算移动物体的绝对位置和与移动物体的误差有关的误差方差; 读出单元，用于从存储单元读出与所计算的绝对位置相关的道路的道路信息; 存在概率计算单元，用于从绝对位置，误差变化和读出道路信息计算存在于道路上的移动物体的存在概率; 选择单元，用于从所计算的存在概率中选择存在概率最大的位置; 以及地图匹配处理单元，用于使所选择的位置在道路上移动物体的位置。

15. 发明申请

US20070192013A1 Vehicle speed control device, method of determining target speed by using the device, and program executing the method 有权
标题翻译：车速控制装置，使用该装置确定目标速度的方法以及执行该方法的程序
公开(公告)号：US20070192013A1
公开(公告)日：2007-08-16
申请号：US11655196
申请日：2007-01-19
申请人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
发明人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
IPC分类号： B60T8/32 , G01C21/00
CPC分类号： B60T7/22 , B60T2210/36 , B60W10/04 , B60W30/16 , B60W40/02 , B60W40/105 , B60W2550/14 , B60W2550/402 , B60W2720/106
摘要： The present invention relates to a vehicle speed control device for controlling a speed of a vehicle. The vehicle speed control device includes a current location error estimation section for extracting area attribute information from the map information, for producing a location error probability distribution, a target speed calculation section for receiving the target speed correction instruction, for accessing preset data that shows an acceleration or a gradient of an acceleration which allows a driver not to feel uncomfortable, and for computing target speed values at nodes over the distance in such a way that the target speed values create a continuous curve, and a speed control section for sensing a speed of a vehicle, and for controlling a driving torque of the vehicle so that the sensed speed traces the continuous curve composed of the target speed values.
摘要翻译：本发明涉及一种用于控制车辆速度的车速控制装置。车速控制装置包括：当前位置误差估计部分，用于从地图信息中提取区域属性信息，用于产生位置误差概率分布;目标速度计算部分，用于接收目标速度校正指令，用于访问显示一个加速度或加速度的梯度，其允许驾驶员不感到不舒服，并且用于以目标速度值产生连续曲线的方式计算距离上的节点处的目标速度值;以及速度控制部分，用于感测速度并且用于控制车辆的驱动扭矩，使得感测的速度跟踪由目标速度值组成的连续曲线。

16. 发明授权

US08060303B2 Navigation device and lane guide method 有权
标题翻译：导航装置和导航方法
公开(公告)号：US08060303B2
公开(公告)日：2011-11-15
申请号：US12174834
申请日：2008-07-17
申请人： Mikio Bando , Masao Sakata
发明人： Mikio Bando , Masao Sakata
IPC分类号： G08G1/0968 , G01C21/36
CPC分类号： G01C21/36 , G08G1/096716 , G08G1/096758 , G08G1/096775 , G08G1/096791 , G08G1/096827 , G08G1/096844 , G08G1/096861 , G08G1/167
摘要： A vehicle is guided to a lane that the vehicle should run, even if map data do not include lane information of a tollgate.A navigation processing part 100 makes a vehicle running path calculation part 112 calculate a running path of the vehicle from a point of a prescribed distance from the tollgate until an ETC receipt signal receiving part 114 receives an ETC receipt signal. Then, the navigation processing part 100 calculates an approximate position of an ETC lane on the basis of the running path, and accumulates the calculated approximate position in a storage unit. Further, when the vehicle approaches to the tollgate within a prescribed distance from the tollgate, the navigation processing part 100 obtains the approximate position of the ETC lane of the tollgate from the storage unit, and displays the approximate position through a display processing part 106, to guide the user to the ETC lane.
摘要翻译：即使地图数据不包括收费站的车道信息，车辆也被引导到车辆应该行驶的车道。导航处理部100使车辆行驶路径计算部112从收费站的规定距离的点算出车辆的行驶路径，直到ETC接收信号接收部114接收到ETC接收信号。然后，导航处理部100基于运行路径计算ETC车道的近似位置，并将计算出的近似位置累加在存储部中。此外，当车辆从收费站接近收费站一定距离时，导航处理部分100从存储单元获取收费站的ETC车道的大致位置，并通过显示处理部分106显示大致位置，引导用户到ETC车道。

17. 发明授权

US08005602B2 Vehicle speed control device, method of determining target speed by using the device, and program executing the method 有权
标题翻译：车速控制装置，使用该装置确定目标速度的方法以及执行该方法的程序
公开(公告)号：US08005602B2
公开(公告)日：2011-08-23
申请号：US11655196
申请日：2007-01-19
申请人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
发明人： Mikio Bando , Takeshi Inoue , Koichiro Tanikoshi , Masao Sakata , Hiroshi Sakamoto , Masato Imai
IPC分类号： B60T8/32 , G01C21/00
CPC分类号： B60T7/22 , B60T2210/36 , B60W10/04 , B60W30/16 , B60W40/02 , B60W40/105 , B60W2550/14 , B60W2550/402 , B60W2720/106
摘要： The present invention relates to a vehicle speed control device for controlling a speed of a vehicle. The vehicle speed control device includes a current location error estimation section for extracting area attribute information from the map information, for producing a location error probability distribution, a target speed calculation section for receiving the target speed correction instruction, for accessing preset data that shows an acceleration or a gradient of an acceleration which allows a driver not to feel uncomfortable, and for computing target speed values at nodes over the distance in such a way that the target speed values create a continuous curve, and a speed control section for sensing a speed of a vehicle, and for controlling a driving torque of the vehicle so that the sensed speed traces the continuous curve composed of the target speed values.
摘要翻译：本发明涉及一种用于控制车辆速度的车速控制装置。车速控制装置包括：当前位置误差估计部分，用于从地图信息中提取区域属性信息，用于产生位置误差概率分布;目标速度计算部分，用于接收目标速度校正指令，用于访问显示一个加速度或加速度的梯度，其允许驾驶员不感到不舒服，并且用于以目标速度值产生连续曲线的方式计算距离上的节点处的目标速度值;以及速度控制部分，用于感测速度并且用于控制车辆的驱动扭矩，使得感测的速度跟踪由目标速度值组成的连续曲线。

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