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1. 发明授权

US09157749B2 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：US09157749B2
公开(公告)日：2015-10-13
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。

2. 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。

3. 发明申请

US20110208496A1 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：US20110208496A1
公开(公告)日：2011-08-25
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
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。

4. 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。

5. 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。

6. 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。

7. 发明授权

US09097541B2 Driving support device 有权
标题翻译：驾驶辅助装置
公开(公告)号：US09097541B2
公开(公告)日：2015-08-04
申请号：US13991995
申请日：2011-12-06
申请人： Mikio Bando , Yukihiro Kawamata , Toshiyuki Aoki
发明人： Mikio Bando , Yukihiro Kawamata , Toshiyuki Aoki
IPC分类号： G01C21/26 , G01C21/28 , G08G1/16 , G01C21/16 , G01C25/00
CPC分类号： G01C21/26 , G01C21/165 , G01C21/28 , G01C25/005 , G08G1/16
摘要： A driving support device includes a maximum measurement range determination unit adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle. A distance sensor such as a laser range finder or a stereo camera that measures a distance is used in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section. A sensor parameter estimation unit is adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor.
摘要翻译：驾驶辅助装置包括：最大测量范围确定单元，用于计算与存在于车辆周围的物体的表面上的多个点的距离。使用诸如激光测距仪或测量距离的立体摄像机之类的距离传感器，以便通过使用诸如立体相机或LRF之类的距离传感器校正偏差来高精度估计加速度传感器的偏差在GPS非接收部分。传感器参数估计单元适于基于从车辆平移获得的本车辆的行为和适于基于距离变化反向计算车辆行为的旋转角度计算装置以及基于测量值估计加速度传感器的参数加速度传感器的值。

8. 发明授权

US08260325B2 Location estimation system 有权
标题翻译：位置估算系统
公开(公告)号：US08260325B2
公开(公告)日：2012-09-04
申请号：US13030237
申请日：2011-02-18
申请人： Mikio Bando , Katsuaki Tanaka , Yukihiro Kawamata , Toshiyuki Aoki
发明人： Mikio Bando , Katsuaki Tanaka , Yukihiro Kawamata , Toshiyuki Aoki
IPC分类号： H04W4/00
CPC分类号： G01S19/40 , G01S5/0072 , G01S5/021 , G01S19/46
摘要： A location estimation system includes: a position measurement unit that receives position measurement signals from a plurality of sources of emission, and calculates position information of a first mobile object; a distance measurement unit that measures a distance from the first mobile object and to a second mobile object; a relationship determination unit that determines presence or absence of a relationship between the first mobile object and the second mobile object based upon relative position of the second mobile object based upon the distance, and selects position measurement signals from sources of emission that are different from the sources of emission of the position measurement signals received by the first mobile object; a position correction unit that corrects a position of the first mobile object based upon the position measurement signals received by the first mobile object and the position measurement signals selected by the relationship determination means.
摘要翻译：位置估计系统包括：位置测量单元，其从多个发射源接收位置测量信号，并且计算第一移动物体的位置信息; 距离测量单元，其测量从第一移动对象和第二移动对象的距离; 关系确定单元，其基于所述距离，基于所述第二移动对象的相对位置来确定所述第一移动对象与所述第二移动对象之间的关系的存在与否，并且从与所述第二移动对象不同的发射源选择位置测量信号由第一移动物体接收的位置测量信号的发射源; 位置校正单元，其基于由第一移动体接收的位置测量信号和由关系确定装置选择的位置测量信号来校正第一移动体的位置。

9. 发明申请

US20130261921A1 DRIVING SUPPORT DEVICE 有权
标题翻译：驱动支持设备
公开(公告)号：US20130261921A1
公开(公告)日：2013-10-03
申请号：US13991995
申请日：2011-12-06
申请人： Mikio Bando , Yukihiro Kawamata , Toshiyuki Aoki
发明人： Mikio Bando , Yukihiro Kawamata , Toshiyuki Aoki
IPC分类号： G01C21/26
CPC分类号： G01C21/26 , G01C21/165 , G01C21/28 , G01C25/005 , G08G1/16
摘要： A driving support device includes a maximum measurement range determination unit adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle. A distance sensor such as a laser range finder or a stereo camera that measures a distance is used in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section. A sensor parameter estimation unit is adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor.
摘要翻译：驾驶辅助装置包括：最大测量范围确定单元，用于计算与存在于车辆周围的物体的表面上的多个点的距离。使用诸如激光测距仪或测量距离的立体摄像机之类的距离传感器，以便通过使用诸如立体相机或LRF之类的距离传感器校正偏差来高精度估计加速度传感器的偏差在GPS非接收部分。传感器参数估计单元适于基于从车辆平移获得的本车辆的行为和适于基于距离变化反向计算车辆行为的旋转角度计算装置以及基于测量值估计加速度传感器的参数加速度传感器的值。

10. 发明申请

US20120078572A1 Road Surface Condition Estimating Device and Method 审中-公开
标题翻译：路面状况估算装置及方法
公开(公告)号：US20120078572A1
公开(公告)日：2012-03-29
申请号：US13228126
申请日：2011-09-08
申请人： Mikio Bando , Yukihiro Kawamata , Toshiyuki Aoki
发明人： Mikio Bando , Yukihiro Kawamata , Toshiyuki Aoki
IPC分类号： G06F15/00
CPC分类号： G08G1/0112
摘要： A road surface condition estimating device includes an undulation estimating portion for estimating undulations on the trajectory of a traveling vehicle from behavioral information about plural vehicles collected during travel of the vehicles, and a rut estimating portion for estimating undulations of ruts relative to the trajectories of the vehicles from the trajectories of traveling vehicles and from the behavioral information about the vehicles. The behavioral information includes information about positions, postures, and speeds of travel of the vehicles. Undulations on the trajectory of each traveling vehicle found by the undulation estimating portion and undulations of ruts relative to the trajectory of the traveling vehicle are superimposed for each vehicle to find road surface conditions, which are delivered to the vehicles.
摘要翻译：路面状态估计装置包括：波动估计部，用于根据关于在车辆行驶期间收集的多个车辆的行为信息来估计行驶车辆的轨迹的波动;以及车辙估计部，用于估计相对于所述车辆的轨迹的轨迹的波动从行车轨迹和车辆行为信息的车辆。行为信息包括关于车辆的位置，姿势和行驶速度的信息。通过波动估计部分发现的每个行驶车辆的轨迹上的摆动和相对于行驶车辆的轨迹的倾斜度的波动叠加，以找到传递给车辆的路面状况。

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