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公开(公告)号：JP2013024679A
公开(公告)日：2013-02-04
申请号：JP2011158755
申请日：2011-07-20
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： HASEGAWA NAOTO , SHONO SHOICHI , UCHIHARA MASAFUMI , MOTOZONO KIICHI , UEDA AKIHIRO , TAJIMA YASUHIRO , USAMI TOMOHIRO , MIURA MITSUHIRO
CPC classification number: Y02T10/7077 , Y02T90/161
Abstract: PROBLEM TO BE SOLVED: To provide a vehicle control device capable of presenting information for a driver to understand what vehicle operation facilitates an execution of a prescribed travel control.SOLUTION: A display part 76 displays in a display device 64 information indicating that it is predicted that an inertia travel control (a prescribed travel control) will be executed on the basis of a current vehicle state from history information DThis in which travel data is accumulated in association with each travel route within a specific range based on the current position of the vehicle 6. Therefore, when the driver changes the current vehicle state, a travel route where it is predicted that an inertia travel control will be executed is changed and displayed, an electronic control device 60 can present the driver information which enables the driver to understand what vehicle operation facilitates an execution of the inertia travel control. This allows the driver to drive the vehicle 6, for example, consciously taking advantage of a merit of improvement of fuel consumption by the inertia travel control.
Abstract translation: 要解决的问题：提供一种车辆控制装置，其能够向驾驶员呈现信息以了解什么车辆操作有助于执行规定行驶控制。
解决方案：显示部分76在显示装置64中显示表示预测将根据历史信息DThi基于当前车辆状态执行惯性行驶控制（规定的行驶控制）的信息，其中旅行 基于车辆6的当前位置，在特定范围内与各行驶路线相关联地累积数据。因此，当驾驶员改变当前车辆状态时，预测将进行惯性行驶控制的行驶路线为 改变和显示，电子控制装置60可以呈现驾驶员信息，使得驾驶员能够理解什么车辆操作有助于执行惯性行驶控制。 这允许驾驶员驾驶车辆6，例如有意识地利用通过惯性行驶控制改善燃料消耗的优点。 版权所有（C）2013，JPO＆INPIT
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公开(公告)号：JP2010243217A
公开(公告)日：2010-10-28
申请号：JP2009089601
申请日：2009-04-01
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： HASEGAWA NAOTO , HANPO HIDEAKI
Abstract: PROBLEM TO BE SOLVED: To more accurately perform determination concerning abnormality of pseudo distances.
SOLUTION: This positioning device for a moving body includes: a position calculation means for calculating the position of the moving body by calculating pseudo distances between the moving body and a plurality of satellites by using radio waves of the plurality of satellites transmitted from the satellites; a line-of-sight vector calculation means for calculating line-of-sight vectors connecting the positions of the satellites grasped from the radio waves of the satellites and the position of the moving body calculated by the position calculation means or another means; and a storage means storing map data wherein roads are represented by a plurality of links. The positioning device performs determination concerning abnormality of the pseudo distances which the position calculation means calculates by using the position of the moving body grasped by map matching using the map data, concerning satellites whose line-of-sight vectors calculated by the line-of-sight vector calculation means form angles exceeding a predetermined angle with respect to a link where the moving body is presumed to be present out of the links.
COPYRIGHT: (C)2011,JPO&INPITAbstract translation: 要解决的问题：为了更精确地执行关于伪距离的异常的确定。 解决方案：用于移动体的定位装置包括：位置计算装置，用于通过使用从多个卫星发送的多个卫星的无线电波计算移动体和多个卫星之间的伪距离来计算移动体的位置 卫星; 视线矢量计算装置，用于计算连接从卫星的无线电波所掌握的卫星的位置和由位置计算装置计算的移动体的位置的视线矢量或其他装置; 以及存储装置，存储其中道路由多个链接表示的地图数据。 定位装置通过使用由地图数据通过地图匹配掌握的移动体的位置来计算位置计算装置计算的伪距离的异常的关于卫星的视线矢量， 视线矢量计算意味着相对于假设移动体存在于链接之外的链接形成超过预定角度的角度。 版权所有（C）2011，JPO＆INPIT
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公开(公告)号：JP2010145178A
公开(公告)日：2010-07-01
申请号：JP2008321372
申请日：2008-12-17
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： OZAKI IWAO , KADOWAKI YOSHINORI , SATO HIROSHI , YAMAMOTO TAKUYA , HASEGAWA NAOTO , OZAKI KATSUHIKO
Abstract: PROBLEM TO BE SOLVED: To provide a moving body position specification device capable of specifying more accurately the position of a moving body.
SOLUTION: This moving body position specification device includes a first computation means for computing the position of the moving body based on a radio wave from a satellite, a second computation means for computing the position of the moving body based on a behavior of the moving body, and a position specification means for specifying the position of the moving body based on either or both of a computation result by the first computing means and a computation result by the second computing means. The position specification means determines whether the moving body exists within a strong electromagnetic field domain or not, and specifies the position of the moving body by using emphatically the computation result by the second computing means, when determined that the moving body exists within the strong electromagnetic field domain in comparison with when determined that the moving body does not exist within the strong electromagnetic field domain.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提供能够更准确地指定移动体的位置的移动体位置指定装置。 解决方案：该移动体位置指定装置包括：第一计算装置，用于基于来自卫星的无线电波来计算移动体的位置;第二计算装置，用于基于运动物体的行为计算移动体的位置; 移动体和位置指定装置，用于基于第一计算装置的计算结果和第二计算装置的计算结果中的一个或两者来指定移动体的位置。 位置指定装置确定移动体是否存在于强电磁场域内，并且当确定移动体存在于强电磁场内时，通过强调第二计算装置的计算结果来指定移动体的位置 与确定在强电磁场域内不存在移动体的情况相比较。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2010151725A
公开(公告)日：2010-07-08
申请号：JP2008332125
申请日：2008-12-26
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： HASEGAWA NAOTO , HANPO HIDEAKI
Abstract: PROBLEM TO BE SOLVED: To improve the measurement accuracy in a GNSS receiving apparatus and a positioning method.
SOLUTION: The GNSS receiving apparatus includes: a means using a code included in a positioning signal from a GNSS satellite, and obtaining data observed by the GNSS receiving apparatus; a means for calculating a position of the GNSS satellite based on orbit information included in the positioning signal from a GNSS satellite; a means for estimating a position of the GNSS receiving apparatus based on information other than the positioning signal; a means for estimating data observed between the GNSS satellite and the GNSS receiving apparatus based on the calculated position of the GNSS satellite and the estimated position of the GNSS receiving apparatus; a means for estimating an error in the observation data due to an error of the GNSS receiving apparatus; observation data error estimating section for estimating an error included in the observation data based on the observation data, an observation data estimate value and a receiving apparatus error estimate value; and a means for implementing a positioning operation by using the observation data whose estimated observation error is a predetermined threshold value or less.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提高GNSS接收装置的测量精度和定位方法。 解决方案：GNSS接收装置包括：使用包括在来自GNSS卫星的定位信号中的代码并获得由GNSS接收装置观测到的数据的装置; 基于来自GNSS卫星的定位信号中包含的轨道信息来计算GNSS卫星的位置的装置; 基于除定位信号之外的信息来估计GNSS接收装置的位置的装置; 基于所计算的GNSS卫星的位置和GNSS接收装置的估计位置估计在GNSS卫星和GNSS接收装置之间观测到的数据的装置; 用于估计由于GNSS接收装置的误差导致的观测数据中的误差的装置; 观测数据误差估计部分，用于基于观测数据，观测数据估计值和接收装置误差估计值来估计包括在观测数据中的误差; 以及通过使用其估计观察误差为预定阈值或更小的观测数据来实现定位操作的装置。 版权所有（C）2010，JPO＆INPIT
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公开(公告)号：JP2009222438A
公开(公告)日：2009-10-01
申请号：JP2008064815
申请日：2008-03-13
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： KOBORI KUNINARI , HASEGAWA NAOTO , KAGAWA KAZUNORI , KURIMOTO MASAYUKI
IPC: G01C21/00 , G01C21/28 , G01S19/23 , G01S19/45 , G08G1/0969
Abstract: PROBLEM TO BE SOLVED: To provide a positioning device for a movable body to accurately synchronize a positioning result with a detection result obtained by another sensor.
SOLUTION: This positioning device for a movable body includes a positioning means for determining the position and speed of the movable body at reference time, a state detection sensor for detecting the state of the movable body, a transmission path for transmitting detection results obtained by the detection sensor in a clock cycle. and a synchronization means. The synchronization means includes: a first synchronization means for determining a detection result to be synchronized from among the respective detection results ranging over a plurality of clock cycles obtained by the detection sensor; an estimation means for estimating reference time; a time difference calculation means for calculating a time difference between detection time at which the detection result determined by the first synchronization means is detected and the reference time; and a second synchronization means for calculating the position of the movable body at the detection time by interpolation by using the calculated time difference and the result of determining the position and speed of the movable body at the reference time, and associating the calculation result of the position of the movable body with the detection result determined by the first synchronization means.
COPYRIGHT: (C)2010,JPO&INPITAbstract translation: 要解决的问题：提供一种可移动体的定位装置，以使定位结果与由另一传感器获得的检测结果精确地同步。 解决方案：用于移动体的定位装置包括用于确定基准时移动体的位置和速度的定位装置，用于检测可移动体的状态的状态检测传感器，用于传送检测结果的传输路径 由检测传感器以时钟周期获得。 和同步装置。 同步装置包括：第一同步装置，用于从由检测传感器获得的多个时钟周期中的各个检测结果中确定要同步的检测结果; 用于估计参考时间的估计装置; 时间差计算装置，用于计算检测到由第一同步装置确定的检测结果的检测时间与基准时间之间的时间差; 以及第二同步装置，用于通过使用所计算的时间差来计算在检测时间处的检测时间处的移动体的位置，以及在参考时间确定可移动体的位置和速度的结果，并且将计算结果与 具有由第一同步装置确定的检测结果的可移动体的位置。 版权所有（C）2010，JPO＆INPIT
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Patent Agency Ranking
公开(公告)号：JP2009041932A
公开(公告)日：2009-02-26
申请号：JP2007204256
申请日：2007-08-06
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： EIMIYA KIYOMI , UEDA AKIHIRO , HASEGAWA NAOTO
Abstract: PROBLEM TO BE SOLVED: To obtain a position of a mobile object by using a proper error variance in response to a reception condition of a satellite radio wave.
SOLUTION: A mobile object positioning apparatus of the invention comprises: an inertial navigation positioning means for obtaining the position of the mobile object by an inertial navigation; a satellite navigation positioning means for obtaining the position of the mobile object by a satellite navigation; a state quantity estimating means for considering an observation quantity as a relationship between positioning results of the inertial navigation positioning means and the satellite navigation positioning means, considering a state quantity as a correction parameter used in the inertial navigation positioning means, using the error variation of the positioning result of the satellite navigation positioning means, and estimating the state quantity; a means for reflecting the state quantity estimated by the state quantity estimating means to positioning in the inertial navigation positioning means; and a correcting means for correcting the error variance in response to the reception condition of the satellite radio wave received by the mobile object.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：通过响应于卫星无线电波的接收状况通过使用适当的误差方差来获得移动对象的位置。 解决方案：本发明的移动物体定位装置包括：惯性导航定位装置，用于通过惯性导航获得移动物体的位置; 卫星导航定位装置，用于通过卫星导航获得移动物体的位置; 一种状态量估计装置，用于考虑在惯性导航定位装置中使用的状态量作为校正参数的观测量作为惯性导航定位装置的定位结果与卫星导航定位装置之间的关系，使用误差变化 卫星导航定位手段的定位结果，估算状态量; 用于将由状态量估计装置估计的状态量反映到定位在惯性导航定位装置中的装置; 以及校正装置，用于响应于由移动对象接收的卫星无线电波的接收状况来校正误差方差。 版权所有（C）2009，JPO＆INPIT
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公开(公告)号：JP2009025045A
公开(公告)日：2009-02-05
申请号：JP2007186145
申请日：2007-07-17
Applicant: Toyota Motor Corp , トヨタ自動車株式会社
Inventor： MOTOZONO KIICHI , HASEGAWA NAOTO
Abstract: PROBLEM TO BE SOLVED: To prevent properly a time delay in the main moving direction of a moving body, while suppressing dispersion of positioning results caused by randomness of positioning.
SOLUTION: This positioning device for the moving body is equipped with a satellite signal reception means, a velocity vector calculation means for calculating a velocity vector of the moving body by using a Doppler shift of a carrier wave of a satellite signal, a moving vector calculation means for calculating a moving vector of the moving body based on a position change of the moving body derived based on a reception result of the satellite signal, a correction means for correcting the moving vector calculated by the moving vector calculation means by using the direction of the velocity vector calculated by the velocity vector calculation means as a reference direction, and a positioning means for positioning the position and/or the velocity of the moving body by using the moving vector corrected by the correction means and the velocity vector calculated by the velocity vector calculation means.
COPYRIGHT: (C)2009,JPO&INPITAbstract translation: 要解决的问题：为了防止移动体的主移动方向上的时间延迟，同时抑制由定位的随机性引起的定位结果的分散。 解决方案：该移动体的定位装置配备有卫星信号接收装置，速度矢量计算装置，用于通过使用卫星信号的载波的多普勒频移来计算移动体的速度矢量， 移动矢量计算装置，用于基于根据卫星信号的接收结果导出的移动体的位置变化来计算移动体的运动矢量;校正装置，用于校正由运动矢量计算装置计算的运动矢量， 由速度矢量计算装置计算的速度矢量的方向作为参考方向;以及定位装置，用于通过使用由校正装置校正的运动矢量和计算出的速度矢量来定位移动体的位置和/或速度 由速度矢量计算装置。 版权所有（C）2009，JPO＆INPIT
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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
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。
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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
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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
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&INPITAbstract 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
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