公开(公告)号：JP2007248345A

公开(公告)日：2007-09-27

申请号：JP2006074165

申请日：2006-03-17

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  USAMI TOMOHIRO ,  NAKAMURA MITSURU

IPC: G01S19/40

Abstract: PROBLEM TO BE SOLVED: To provide a positioning device capable of acquiring a result of independent positioning in a shorter time.
SOLUTION: A positioning method for positioning the position of the positioning device 10 receiving a radio wave based on a propagation time of the radio wave transmitted from a plurality of satellites Si is characterized as follows: each position of a prescribed number of satellites whose orbits are known is calculated only once (S1); a pseudo-distance based on a temporary arrival time of the radio wave from the satellite position is calculated (S3); the position of the positioning device is positioned by an independent positioning method by using the pseudo-distance (S4); and when a timepiece error of the positioning device is over a prescribed value as the result of the independent positioning (S5), the independent positioning is repeated after correcting the pseudo-distance as much as the timepiece error (S4).
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供能够在更短时间内获取独立定位的结果的定位装置。 解决方案：基于从多个卫星Si发射的无线电波的传播时间来定位接收无线电波的定位装置10的位置的定位方法的特征如下：规定数量的卫星的每个位置 其轨道已知仅计算一次（S1）; 计算基于来自卫星位置的无线电波的临时到达时间的伪距离（S3）; 通过使用伪距离（S4）通过独立的定位方法定位定位装置的位置; 并且当定位装置的钟表错误作为独立定位的结果超过规定值时（S5），在校正与时钟误差一样多的伪距离之后重复独立定位（S4）。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007218865A

公开(公告)日：2007-08-30

申请号：JP2006042826

申请日：2006-02-20

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： UEDA AKIHIRO ,  MAEDA IWAO ,  HIMIYA KIYOMI ,  TAJIMA YASUHIRO

IPC: G01C21/00 ,  G01S19/14 ,  G01S19/49 ,  G08G1/0969 ,  G09B29/00 ,  G09B29/10

CPC classification number: G01C21/28 ,  G01S19/49

Abstract: PROBLEM TO BE SOLVED: To provide a positioning system and a car navigation system capable of positioning precisely a position of a moving object even when the number of receivable GPS satellites is not sufficient. SOLUTION: This positioning system 10 capable of controlling cooperatively the positioning using radio waves transmitted from the artificial satellites and the positioning by a self-contained navigation method to estimate the position of the moving object extracts a point with the minimum distance with respect to an inertia positioning position positioned by the self-contained navigation method, out of a range positioned using the radio waves, when the number of the captured satellites is less than three, and estimates the point as the satellite positioned position positioned using the radio wave. COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：即使当可接收的GPS卫星的数量不足时，提供能够精确地定位移动物体的位置的定位系统和汽车导航系统。 解决方案：该定位系统10能够使用从人造卫星发送的无线电波协调地进行定位，并且通过独立导航方法定位以估计移动物体的位置，以相对于最小距离提取点 在被捕获的卫星的数量小于3的情况下，在使用无线电波定位的范围内，通过独立导航方式定位的惯性定位位置，并且将该点估计为使用无线电波定位的卫星定位位置 。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2007139601A

公开(公告)日：2007-06-07

申请号：JP2005334395

申请日：2005-11-18

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ONOME HIROHISA ,  KAGAWA KAZUNORI ,  TAJIMA YASUHIRO ,  MAEDA IWAO ,  EIMIYA KIYOMI ,  UEDA AKIHIRO

IPC: G01C21/00 ,  G09B29/10

CPC classification number: G01C21/28

Abstract: PROBLEM TO BE SOLVED: To provide a position estimation device for a moving body for estimating the position of the moving body highly accurately without being influenced by a road shape or a peripheral environment.
SOLUTION: This position estimation device for the moving body loaded on the moving body for estimating the position of the moving body is equipped with the first estimation means for estimating the position of the moving body based on an output from an inertia navigation sensor group (an acceleration sensor, a yaw rate sensor or the like) loaded on the moving body; a storage means for storing map information including at least node information; the second estimation means for estimating the position of the moving body based on an anticipated moving locus of the moving body predicted from the node information; and a synthesis means for determining the final estimated position of the moving body by synthesizing the position of the moving body estimated by the first estimation means and the position of the moving body estimated by the second estimation means.
COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种用于移动体的位置估计装置，用于高精度地估计移动体的位置，而不受道路形状或周边环境的影响。 解决方案：用于估计移动体的位置的用于运动物体的移动体的位置估计装置配备有第一估计装置，用于基于惯性导航传感器的输出来估计移动体的位置 组合（加速度传感器，偏航率传感器等）; 存储装置，用于存储至少包括节点信息的地图信息; 第二估计装置，用于基于从节点信息预测的移动体的预期移动轨迹估计移动体的位置; 以及合成装置，用于通过合成由第一估计装置估计的移动体的位置和由第二估计装置估计的移动体的位置来确定移动体的最终估计位置。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2005202761A

公开(公告)日：2005-07-28

申请号：JP2004009282

申请日：2004-01-16

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ONOME HIROHISA ,  YAMASHITA KATSUJI ,  KAGAWA KAZUNORI ,  TAJIMA YASUHIRO

IPC: G08G1/16

Abstract: PROBLEM TO BE SOLVED: To provide a vehicle surrounding monitoring system that can reduce image recognition processing time and increase a recognition rate.
SOLUTION: The vehicle surrounding monitoring system comprises a position detecting means 12 for detecting a vehicle position, an imaging means 18 mounted in a predetermined position on the vehicle to image vehicle surroundings, an image processing means 10 for recognizing stationary objects from pickup images from the imaging means 18, assist information creating means 10 for creating assist information for the next and subsequence stationary object recognition according to the recognition results of the image processing means 10, and storing means 30 for storing the created assist information. The image processing means 10 decide an image processing area for stationary object recognition, with the use of the assist information in the storing means 30.
COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：提供可以减少图像识别处理时间并增加识别率的车辆周边监控系统。 车辆周围监控系统包括：用于检测车辆位置的位置检测装置12;安装在车辆上的预定位置以成像车辆周围的成像装置18;图像处理装置10，用于从拾取中识别静止物体 根据图像处理装置10的识别结果，来自成像装置18的辅助信息创建装置10用于创建用于下一​​个和后续静止对象识别的辅助信息的辅助信息创建装置10，以及用于存储所创建的辅助信息的存储装置30。 图像处理装置10利用存储装置30中的辅助信息来决定静止物体识别的图像处理区域。（C）2005，JPO＆NCIPI

公开(公告)号：JP2005098853A

公开(公告)日：2005-04-14

申请号：JP2003333272

申请日：2003-09-25

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： ONOME HIROHISA ,  YAMASHITA KATSUJI ,  KAGAWA KAZUNORI ,  TAJIMA YASUHIRO

IPC: G09B29/00 ,  G01C21/00 ,  G06T1/00 ,  G08G1/0969 ,  G09B29/10

Abstract: PROBLEM TO BE SOLVED: To ensure an availability of data by improving a precision of the data from an existing map without input operation by a user in a map data updating method and a map data updating apparatus.
SOLUTION: A vehicle location is detected from GPS data and INS data. A running orbit is calculated while a vehicle runs. The number of lanes and a width of a road are estimated from a location relationship between a plurality of the running orbits on the same road. Display locations of traffic signals and traffic signs are detected from an image picked up by a camera 24. Three-dimensional absolute locations of the traffic signals on an actual road are estimated from the display locations. The estimated information as update data of latitude/longitude information stored in a map database 10 is stored in an update data storage 16.
COPYRIGHT: (C)2005,JPO&NCIPI

Abstract translation: 要解决的问题：通过在地图数据更新方法和地图数据更新装置中，用户不用输入操作来提高来自现有地图的数据的精度来确保数据的可用性。 解决方案：从GPS数据和INS数据检测车辆位置。 在车辆行驶时计算运行轨道。 道路的数量和道路的宽度根据同一道路上的多个行驶轨道之间的位置关系来估计。 从照相机24拍摄的图像中检测出交通信号灯和交通标志的显示位置。从显示位置估计实际道路上的交通信号的三维绝对位置。 作为存储在地图数据库10中的纬度/经度信息的更新数据的估计信息存储在更新数据存储单元16中。（C）2005，JPO＆NCIPI

公开(公告)号：JP2013206313A

公开(公告)日：2013-10-07

申请号：JP2012076827

申请日：2012-03-29

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  UEDA AKIHIRO ,  SHONO SHOICHI ,  MOTOZONO KIICHI ,  USAMI TOMOHIRO ,  HASEGAWA NAOTO ,  OMURA MASAO ,  MIURA MITSUHIRO

IPC: G08G1/16 ,  B60T7/12 ,  G08G1/14

Abstract: PROBLEM TO BE SOLVED: To prevent an entrance due to a wrong operation into an entrance prohibited area at a parking lot.SOLUTION: An ECU 16 comprises: an operation pattern storage section for learning to store an operation pattern of a driver before/after parking at the parking lot; an entrance prohibited area storage section for learning to store the entrance prohibited area at the parking lot; and a determination section for performing at least one of alarm generation or travel control, when a driver operation before/after parking after the learning deviates from the operation pattern stored in the operation pattern storage section and is determined to be an entrance into the entrance prohibited area stored in the entrance prohibited area storage section. For the operation pattern of the driver, time change of a vehicle speed for each parking pattern is used.

Abstract translation: 要解决的问题：为了防止由于在停车场的入口禁止区域中的错误操作而进入入口。解决方案：ECU16包括：操作模式存储部分，用于在停车之前/之后学习存储驾驶员的操作模式 在停车场; 入口禁止区域存储部分，用于在停车场学习将入口禁止区域存储; 以及确定部，用于当在学习之后停车之前的驾驶员操作偏离存储在操作模式存储部中的操作模式并且被确定为入口禁止时，执行报警产生或行驶控制中的至少一个 区域存储在入口禁止区域存储部分。 对于驾驶员的操作模式，使用每个停车模式的车速的时间变化。

公开(公告)号：JP2009270928A

公开(公告)日：2009-11-19

申请号：JP2008121479

申请日：2008-05-07

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  KAGAWA KAZUNORI ,  UCHIHARA MASAFUMI

IPC: G01C21/00 ,  G01C21/28 ,  G01S19/07 ,  G01S19/25 ,  G01S19/40 ,  G01S19/44 ,  G08G1/09 ,  H04W64/00

Abstract: PROBLEM TO BE SOLVED: To provide a positioning system for moving objects and highly accurate positioning etc. of moving objects through the use of speed correction data derived on the side of a reference station.
SOLUTION: The positioning system for moving objects includes correction data generating means 50 and 52 provided for the reference station 20 for measuring the speed of the reference station on the basis of the Doppler range of satellite radio waves obtained by observation at the reference station and generating speed correction data on the basis of results of the measurement; a data transmission means 54 provided for the reference station for transmitting both observation data of satellite radio waves obtained by observation at the reference station and the speed correction data to a moving object; a data reception means 40 provided for the moving object 30 for receiving the observation and speed correction data transmitted from the reference station; and positioning means 42, 44, 46 and 48 provided for the moving object for positioning the moving object on the basis of the observation data of satellite radio waves obtained by observation at the moving object and the observation and speed correction data received by the data reception means.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：通过使用在参考站侧导出的速度校正数据来提供用于移动物体的定位系统和移动物体的高精度定位等。 解决方案：用于移动物体的定位系统包括校准数据产生装置50和52，该校正数据产生装置50和52用于参考站20，用于根据参考点观察获得的卫星无线电波的多普勒范围来测量参考站的速度 基于测量结果生成速度校正数据; 为参考站提供的数据发送装置54，用于将通过在参考站观测获得的卫星无线电波的观测数据和速度校正数据发送到移动对象; 为运动对象30提供的用于接收从参考站发送的观察和速度校正数据的数据接收装置40; 以及基于通过在移动对象观察获得的卫星无线电波的观测数据和通过数据接收接收到的观测和速度校正数据的移动物体而设置的用于移动物体的定位装置42,44,46和48 手段。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2009122020A

公开(公告)日：2009-06-04

申请号：JP2007297798

申请日：2007-11-16

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： TAJIMA YASUHIRO ,  HASEGAWA NAOTO ,  UCHIHARA MASAFUMI ,  KAGAWA KAZUNORI ,  MATSUMOTO HIDENORI ,  HIWA TSUYOKI

IPC: G01C21/00 ,  G01S19/28 ,  G01S19/33 ,  G01S19/42 ,  G08G1/0969

Abstract: PROBLEM TO BE SOLVED: To provide a GPS positioning device and a method capable of properly computing positioning even when new and old satellite information is intermingled in a GPS receiver. SOLUTION: Provided is a GPS positioning device comprising a satellite information memorizing means for memorizing the newest satellite information of a plurality of respective GPS satellites periodically received from the GPS satellites; a new/old mixture determining means for determining whether the newest satellite information and the satellite information received in the last time and not newest are mixedly memorized in the newest satellite information of the plurality of respective GPS satellite memorized by the satellite information memorizing means; and a positioning computing means for computing positioning coordinates of the GPS positioning device depending on the result of determination by the new/old mixture determining means. COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：提供一种GPS定位装置和即使当新的和旧的卫星信息被混合在GPS接收机中时也能够适当地计算定位的方法。 解决方案：提供一种GPS定位装置，包括：卫星信息存储装置，用于存储周围从GPS卫星接收的多个相应GPS卫星的最新卫星信息; 一种用于确定最新的卫星信息和最新时间​​接收的卫星信息是否被卫星信息存储装置存储的多个相应GPS卫星的最新的卫星信息中的混合地存储的新的/旧的混合确定装置; 以及定位计算装置，用于根据新旧混合物确定装置的确定结果来计算GPS定位装置的定位坐标。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2009025046A

公开(公告)日：2009-02-05

申请号：JP2007186146

申请日：2007-07-17

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： HASEGAWA NAOTO ,  TAJIMA YASUHIRO ,  KAGAWA KAZUNORI

IPC: G01S19/28 ,  G01S19/40

Abstract: PROBLEM TO BE SOLVED: To correct accurately a subsequent positioning result, when a combination of satellites used for positioning is changed.
SOLUTION: The positioning device for a moving body includes a determination means for determining whether the combination of satellites used for positioning is changed; a velocity vector calculation means for calculating a velocity vector of the moving body by using an observation value of a Doppler shift; a positioning means for positioning the position of the moving body based on a satellite signal; a moving vector calculation means for calculating a moving vector of the moving body in a prescribed time based on a change of a positioning result of the position of the moving body positioned by the positioning means; and a correction means for correcting the position of the moving body positioned by the positioning means by using both vectors of the velocity vector calculated by the velocity vector calculation means and the moving vector calculated by the moving vector calculation means, when determined that the combination of the satellites is changed by the determination means.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：为了正确地校正随后的定位结果，当用于定位的卫星的组合改变时。 解决方案：用于移动体的定位装置包括：确定装置，用于确定用于定位的卫星的组合是否改变; 速度矢量计算装置，用于通过使用多普勒频移的观测值来计算移动体的速度矢量; 定位装置，用于基于卫星信号定位移动体的位置; 移动矢量计算装置，用于基于由所述定位装置定位的所述移动体的位置的定位结果的改变来计算在规定时间内的所述移动体的移动矢量; 以及校正装置，用于通过使用由速度矢量计算装置计算出的速度矢量的两个向量和由运动矢量计算装置计算的运动矢量来校正由定位装置定位的移动体的位置，当确定组合 卫星由确定装置改变。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008139105A

公开(公告)日：2008-06-19

申请号：JP2006324144

申请日：2006-11-30

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： HASEGAWA NAOTO ,  KAGAWA KAZUNORI ,  TAJIMA YASUHIRO ,  KOBORI KUNINARI

IPC: G01S19/22

Abstract: PROBLEM TO BE SOLVED: To properly prevent wrong determination of the end determination of a multipath, while the multipath is developing.
SOLUTION: This apparatus for measuring moving body position is equipped with a reception means 20A for receiving a signal from a satellite 10, a velocity vector calculation means 60A for calculating a velocity vector V of a moving body; a position measurement/operation means 40 for measuring the position of the moving body; a displacement vector calculation means 50 for calculating a displacement vector M, representing the traveling amount of the moving body based on the history of position measurement results; an angle calculation means for calculating an angle formed by the velocity vector V with the displacement vector M as an evaluation value; and an anomaly determination means 72 for determining whether position measurement made by the measurement/operation means is anomalous, based on the evaluation value. The determination means 72 carries out anomaly determination, to the effect, that position measurement is anomalous where the evaluation value is not less than a prescribed threshold Th1, canceling the anomaly determination, where a time period between the time the anomaly determination is made and the time the evaluation value becomes less than a prescribed threshold Th3, exceeds a prescribed time period Th5, or the moving distance of the movable body exceeds a prescribed distance, and maintaining the anomaly determination where neither the prescribed time period nor the prescribed distance is exceeded.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：在多路径正在发展的同时，正确地防止多路径的结束确定的错误确定。 解决方案：这种用于测量移动体位置的装置配备有用于接收来自卫星10的信号的接收装置20A，用于计算移动体的速度矢量V的速度矢量计算装置60A; 用于测量移动体的位置的位置测量/操作装置40; 位移矢量计算装置50，用于基于位置测量结果的历史计算表示移动体的移动量的位移矢量M; 角度计算装置，用于计算由位移矢量M作为评估值的由速度矢量V形成的角度; 以及异常确定装置72，用于基于评估值确定由测量/操作装置进行的位置测量是否异常。 确定装置72执行异常确定，实际上，在评估值不小于规定阈值Th1的位置测量异常的情况下，取消异常确定，其中在进行异常判定的时间与 评估值变得小于规定阈值Th3的时间超过规定时间段Th5，或者移动体的移动距离超过规定距离，并且保持既不超过规定时间也不超过规定距离的异常判定。 版权所有（C）2008，JPO＆INPIT