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公开(公告)号：JP2006004173A
公开(公告)日：2006-01-05
申请号：JP2004179783
申请日：2004-06-17
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ONOME HIROHISA , KAGAWA KAZUNORI , YAMASHITA KATSUJI , TAJIMA YASUHIRO , WATANABE KOJI , MATSUMOTO SHINICHI
Abstract: PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device capable of enhancing recognition accuracy of a target hardly influenced by an object other than the target or noise.
SOLUTION: In this vehicle periphery monitoring device for performing image processing to an image taken by an imaging means provided in a predetermined position of a vehicle to recognize a stationary object that is a recognition object, the moving direction of a pixel position of the recognition object changing in accordance with movement of the vehicle is calculated, and whether the recognition object is the stationary object of recognition object or not based on the calculation result of the moving direction.
COPYRIGHT: (C)2006,JPO&NCIPIAbstract translation: 要解决的问题：提供一种能够提高几乎不受目标或噪声的对象影响的目标的识别精度的车辆周边监视装置。 解决方案：在车辆周边监视装置中，对设置在车辆的预定位置的摄像装置拍摄的图像进行图像处理，以识别作为识别对象的静止物体，将像素位置的移动方向 根据移动方向的计算结果，计算根据车辆的移动而变化的识别对象，以及识别对象是否是识别对象的静止对象。 版权所有（C）2006，JPO＆NCIPI
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公开(公告)号：JP2005347945A
公开(公告)日：2005-12-15
申请号：JP2004163400
申请日：2004-06-01
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： ONOME HIROHISA , KAGAWA KAZUNORI , TAJIMA YASUHIRO , YAMASHITA KATSUJI
CPC classification number: G08G1/09623
Abstract: PROBLEM TO BE SOLVED: To provide an apparatus and a method of monitoring a vehicle periphery capable of highly accurately recognizing an object of interest with appropriate timing. SOLUTION: The apparatus for monitoring the vehicle periphery applies image processing on images around a vehicle recorded by an imaging means mounted on the predetermined position of the vehicle for determining a three-dimensional positional relation between the vehicle and objects around the vehicle. The positional relation in the vehicle traveling direction is determined based on own vehicle position information obtained by GPS positioning and object position information obtained from given map data. The positional relation in the direction orthogonal to the vehicle traveling direction is determined based on the own vehicle position information obtained by GPS positioning and object position information obtained by the image processing. COPYRIGHT: (C)2006,JPO&NCIPI
Abstract translation: 要解决的问题：提供一种监视能够以适当的时机高精度地识别感兴趣对象的车辆周边的装置和方法。 解决方案：用于监视车辆周边的装置对由安装在车辆的预定位置上的成像装置记录的车辆周围的图像进行图像处理，以确定车辆与车辆周围的物体之间的三维位置关系。 基于通过GPS定位获得的本车位置信息和从给定地图数据获得的对象位置信息来确定车辆行驶方向上的位置关系。 基于通过GPS定位获得的本车位置信息和通过图像处理获得的对象位置信息来确定与车辆行驶方向正交的方向上的位置关系。 版权所有（C）2006，JPO＆NCIPI
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公开(公告)号：JP2005147952A
公开(公告)日：2005-06-09
申请号：JP2003388235
申请日：2003-11-18
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： YAMASHITA KATSUJI , KAGAWA KAZUNORI , ONOME HIROHISA , TAJIMA YASUHIRO , SUGIMOTO SUEO
CPC classification number: G01S19/44
Abstract: PROBLEM TO BE SOLVED: To accurately determine an integer bias, even when a mobile station is moving.
SOLUTION: A position detecting device 34 for detecting a position of the mobile station 30 is provided with an integrating means 40, which integrates repetition numbers of a repetition signal being transmitted from a satellite and received by a receiver of the mobile station 30; a means which obtains an integrated value D
ib of the repetition number of a repeated signal, being transmitted from the satellite and received at the same timing by a fixed station 20 positioned at a known point; and a detection means 50, which detects dynamic state quantities about the movement of the mobile station 30 (e.g., movement speed vectors of the mobile station 30). While taking into consideration the detected results of the dynamic state quantities, on the basis of at least two kinds of integration values D
iu , D
ib of the repetition numbers (e.g., at least a double-phase difference D
ijbu ), initial values N
iu , N
ib of integer sections (or N
ijbu of the double-phase difference) of the repetition numbers are estimated.
COPYRIGHT: (C)2005,JPO&NCIPIAbstract translation: 要解决的问题：即使移动台正在移动，也可以精确地确定整数偏差。 解决方案：用于检测移动台30的位置的位置检测装置34设置有积分装置40，其积分从卫星发送并由移动台30的接收机接收的重复信号的重复数 ; 获得重复信号的重复次数的积分值D
从卫星发送并由定位在已知点的固定站20以相同定时接收的装置; 以及检测装置50，其检测关于移动台30的移动的动态状态量（例如，移动台30的移动速度矢量）。 基于重复次数的至少两种积分值D iu ，考虑动态状态量的检测结果，例如， 整数部分的至少一个双相差D ijbu ，初始值N iu ，N ib / SB>的双相位差）。 版权所有（C）2005，JPO＆NCIPI -
公开(公告)号：JP2012081829A
公开(公告)日：2012-04-26
申请号：JP2010228363
申请日：2010-10-08
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： TAJIMA YASUHIRO , UEDA AKIHIRO , MOTOZONO KIICHI , UCHIHARA MASAFUMI , MIURA MITSUHIRO , SHONO SHOICHI
IPC: B60W50/00 , B60T7/12 , B60W10/06 , B60W10/115 , B60W10/184 , B60W30/18 , G01C21/26
Abstract: PROBLEM TO BE SOLVED: To provide a vehicle control device that properly divides a predetermined zone to a request to divide the zone into mutually different divisions by several kinds of traveling controls, while considering the restriction of a storage capacity.SOLUTION: When the storage capacity of a memory part 82 to store traveling load information for each division produced by dividing a link, becomes insufficient to a request to divide the link into mutually different divisions by the several kinds of traveling controls, the requests for different divisions are adjusted because a division adjustment part 84 sorts out the different division requests, and then the link is properly divided in consideration of the restriction of storage capacity of the memory part 82.
Abstract translation: 要解决的问题：提供一种车辆控制装置，其在考虑到存储容量的限制的同时，通过几种行驶控制将适当地划分预定区域的请求划分为相互不同的区段。 解决方案：当通过分割链路存储每个分区的行驶负载信息的存储器部分82的存储容量变得不足以通过几种行驶控制将链路划分成相互不同的分区的请求时， 调整不同分区的请求，因为分割调整部分84排除不同的分割请求，然后考虑到存储器部分82的存储容量的限制，适当地划分链接。（C）2012年， JPO＆INPIT
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公开(公告)号：JP2010243216A
公开(公告)日：2010-10-28
申请号：JP2009089600
申请日：2009-04-01
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： UCHIHARA MASAFUMI , TAJIMA YASUHIRO
Abstract: PROBLEM TO BE SOLVED: To calculate a velocity vector in such a way as to make an error small while reducing an effect on a control due to deterioration in continuity.
SOLUTION: A device for positioning a moving body which is mounted on a moving body includes: a receiving means for receiving radio waves transmitted from a plurality of satellites; a velocity-vector calculation means for calculating a velocity vector of the moving body by using the radio waves received by the receiving means; and a standstill detection means for detecting a standstill of the moving body. In the device for positioning a moving body, when a satellite which the velocity vector calculation means uses for calculation of the velocity vector is switched with the moving body detected to be at a standstill by the standstill detection means, the velocity vector calculation means performs processing of resetting the magnitude of the velocity vector to zero.
COPYRIGHT: (C)2011,JPO&INPITAbstract translation: 要解决的问题：以减小对连续性劣化对控制的影响的方式计算出一个误差小的方法来计算速度矢量。 解决方案：一种用于定位安装在移动体上的移动体的装置，包括：接收装置，用于接收从多个卫星发射的无线电波; 速度矢量计算装置，用于通过使用由接收装置接收的无线电波来计算移动体的速度矢量; 以及用于检测所述移动体的停止的停止检测装置。 在用于定位移动体的装置中，当速度矢量计算装置用于计算速度矢量的卫星被停止检测装置检测为停止的移动体切换时，速度矢量计算装置执行处理 将速度矢量的大小重置为零。 版权所有（C）2011，JPO＆INPIT
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Patent Agency Ranking36.发明专利Inter-moving object interference positioning apparatus and method for moving object 有权移动对象干扰定位装置和移动对象的方法
公开(公告)号：JP2009270927A
公开(公告)日：2009-11-19
申请号：JP2008121477
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 , G01S19/04 , G01S19/28 , G01S19/43 , G01S19/51 , G01S19/54 , G08G1/09 , H04W4/04 , H04W64/00
CPC classification number: G01S19/44
Abstract: PROBLEM TO BE SOLVED: To provide an inter-moving object interference positioning apparatus and a method having high positioning accuracy.
SOLUTION: The inter-moving object interference positioning apparatus includes a first observation data acquisition means for acquiring observation data on phase integrated values observed at a first moving object; a second observation data acquisition means for acquiring observation data on phase integrated values observed at a second moving object; a satellite pair determination means for determining a pair of satellites to be used for interference positioning; and an interference positioning means for determining a single phase difference or a double phase difference between the observation data obtained by the first observation data acquisition means and the observation data obtained by the second observation data acquisition means, using observation data of which the single phase difference or the double phase difference has been determined, and specifying the relative positional relation between the first moving object and the second moving object by interference positioning.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提供一种相互移动物体干涉定位装置和具有高定位精度的方法。 移动物体干涉定位装置包括：第一观测数据取得单元，取得在第一移动体上观察到的相位积分值的观测数据; 第二观测数据获取装置，用于获取在第二移动物体上观察到的相位积分值的观测数据; 卫星对确定装置，用于确定要用于干扰定位的一对卫星; 以及干涉定位装置，用于使用观测数据确定由第一观测数据获取装置获得的观测数据和由第二观察数据获取装置获得的观测数据之间的单相位差或双相位差， 或者确定了双相位差，并且通过干涉定位来指定第一移动物体与第二移动物体之间的相对位置关系。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2009025233A
公开(公告)日：2009-02-05
申请号：JP2007190917
申请日：2007-07-23
Applicant: Ritsumeikan , Toyota Motor Corp , トヨタ自動車株式会社 , 学校法人立命館
Inventor： TAJIMA YASUHIRO , KAGAWA KAZUNORI , NAKAMURA MITSURU , SUGIMOTO SUEO
IPC: G01S19/44
Abstract: PROBLEM TO BE SOLVED: To provide a carrier phase positioning system which can perform positioning on the basis of the satellite data of a single epoch while minimizing deterioration in measurement accuracy.
SOLUTION: The carrier phase positioning system 34 performs, on the basis of satellite data acquired by receiving a satellite signal at a mobile station and a known point, the positioning of the mobile station. Under the condition that the single or double phase difference of an accumulated value of the carrier phase of the satellite signal received at the mobile station 30 and the known point 20 and the single or double phase difference of pseudo distance on the basis of a C/A code or a P code or a PRN code of its kind of the satellite signal received at the mobile station and the known point are set as observed quantities, an integer solution of integer bias is determined on the basis of the satellite data of a single epoch, with the position of the mobile station and the single or double phase difference of the integer bias included in the accumulated value of the carrier phase set as state variables, thereby achieving epoch-to-epoch positioning.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：提供一种能够基于单个时期的卫星数据执行定位的载波相位定位系统，同时最小化测量精度的劣化。 解决方案：载波相位定位系统34基于通过在移动站和已知点接收卫星信号获取的卫星数据来执行移动站的定位。 在移动台30接收的卫星信号和已知点20的载波相位的累加值的单相或双相位差与伪距离的单相或双相差基于C / 将在移动站和已知点处接收到的其类型的卫星信号的码或P码或PRN码设置为观测量，根据单个卫星的卫星数据确定整数偏差的整数解 随着移动台的位置和载波相位的累加值中包含的整数偏差的单相或双相位差被设置为状态变量，从而实现了时代到时代的定位。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2008039691A
公开(公告)日：2008-02-21
申请号：JP2006217315
申请日：2006-08-09
Applicant: Ritsumeikan , Toyota Motor Corp , トヨタ自動車株式会社 , 学校法人立命館
Inventor： SUGIMOTO SUEO , TAJIMA YASUHIRO , KAGAWA KAZUNORI , NAKAMURA MITSURU
Abstract: PROBLEM TO BE SOLVED: To provide a carrier-wave phase type position measuring instrument dispensing with doing over again a fixing process for integer bias from scratch even if a cycle slip occurs.
SOLUTION: The carrier-wave phase type position measuring instrument measures the position of a mobile station by estimating state variables, based on satellite data during a plurality of observation periods, with an integration value of the carrier wave phase of the satellite signal measured in the mobile station and at a known point or its phase difference, taken as an observation amount, and with the position of the mobile station and integer bias included in the integration value of the wave phase or its phase difference taken as state variables. This instrument is equipped with a cycle slip detection means that detects whether or not there is a cycle slip in the phase integration value. If a cycle slip is detected, only a state variable related to a satellite with a cycle slip detected thereon is initialized to continue position measurement.
COPYRIGHT: (C)2008,JPO&INPITAbstract translation: 要解决的问题：即使发生循环滑移，提供一种载波相位型位置测量仪器，分配重新进行整数偏差的定影处理。 解决方案：载波相位型位置测量装置通过基于卫星信号的多个观测周期中的卫星数据估计状态变量来测量移动台的位置，其中卫星信号的载波相位的积分值 在移动站和已知点或其相位差中测量，作为观测量，并且移动站的位置和包含在波相位的积分值或其相位差中的整数偏差被视为状态变量。 该仪器配备有循环滑移检测装置，其检测相位积分值中是否存在循环滑移。 如果检测到周期滑移，则只有与在其上检测到周期滑差的卫星相关的状态变量被初始化以继续位置测量。 版权所有（C）2008，JPO＆INPIT
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公开(公告)号：JP2008039690A
公开(公告)日：2008-02-21
申请号：JP2006217314
申请日：2006-08-09
Applicant: Ritsumeikan , Toyota Motor Corp , トヨタ自動車株式会社 , 学校法人立命館
Inventor： SUGIMOTO SUEO , TAJIMA YASUHIRO , KAGAWA KAZUNORI , NAKAMURA MITSURU
Abstract: PROBLEM TO BE SOLVED: To provide a carrier-wave phase type position measuring instrument for providing high-accuracy position measurement even in the case where a position measurement side is moving.
SOLUTION: The carrier-wave phase type position measuring instrument 34 measures the position of a mobile station, based on satellite data acquired by receiving a satellite signal in the mobile station and at a known point. A movable body model for forecasting the state of the mobile station at the present time from the movement history of the mobile station is adopted as a system model wherein a single or double phase difference is taken as an observation amount of an integration value of the carrier wave phase of the satellite signal received in the mobile station 30 and the known point 20, and the position of the mobile station and a single or double phase difference of integer bias included in the integration value of the wave phase are taken as state variables. Position measurement is performed, by estimating the state variables, based on satellite data at a plurality of epochs.
COPYRIGHT: (C)2008,JPO&INPITAbstract translation: 要解决的问题：即使在位置测量侧移动的情况下，也提供一种用于提供高精度位置测量的载波相位型位置测量仪器。 解决方案：载波相位型位置测量装置34基于通过在移动站中接收卫星信号而获得的卫星数据和已知点来测量移动台的位置。 采用从移动台的移动历史来预测当前移动台状态的移动体模型作为系统模型，其中采用单相或双相位差作为载波的积分值的观测量 将在移动台30和已知点20中接收到的卫星信号的波相位和移动台的位置以及波相位积分值中包含的整数偏差的单相或双相位差作为状态变量。 通过基于多个时期的卫星数据估计状态变量来执行位置测量。 版权所有（C）2008，JPO＆INPIT
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公开(公告)号：JP2008039689A
公开(公告)日：2008-02-21
申请号：JP2006217313
申请日：2006-08-09
Applicant: Ritsumeikan , Toyota Motor Corp , トヨタ自動車株式会社 , 学校法人立命館
Inventor： KAGAWA KAZUNORI , SUGIMOTO SUEO , TAJIMA YASUHIRO , YAMASHITA KATSUJI , ONOME HIROHISA , NAKAMURA MITSURU
Abstract: PROBLEM TO BE SOLVED: To eliminate a need to start a determination process for an integer value bias again when a cycle slip occurs.
SOLUTION: The position-detecting device detects the position of a mobile station by estimating an integer value bias included in an integrated value of the phase of a career wave of a satellite signal that the mobile station observes every predetermined period. In the device, covariance matrix used for estimating the integer value bias is updated by using covariance according to each satellite that has been introduced in the previous period, and, when a new satellite can be observed in the present period, a predetermined initial value, as covariance according to the new satellite, is added to the covariance matrix.
COPYRIGHT: (C)2008,JPO&INPITAbstract translation: 要解决的问题：为了消除在发生周期滑移时再次对整数值偏置开始确定处理的需要。 解决方案：位置检测装置通过估计包含在移动台每隔预定周期观察的卫星信号的职业波的相位的积分值中的整数值偏差来检测移动台的位置。 在设备中，通过使用根据前一周期中引入的每个卫星的协方差来更新用于估计整数值偏差的协方差矩阵，并且当在当前周期中可以观察到新的卫星时，预定的初始值， 根据新卫星的协方差被加到协方差矩阵中。 版权所有（C）2008，JPO＆INPIT
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