公开(公告)号：US07983842B2

公开(公告)日：2011-07-19

申请号：US12289800

申请日：2008-11-04

申请人： Hideki Tanino ,  Kiyoshi Tsurumi ,  Hiroshige Asada ,  Kenji Nakayama ,  Akihiro Hirano

发明人： Hideki Tanino ,  Kiyoshi Tsurumi ,  Hiroshige Asada ,  Kenji Nakayama ,  Akihiro Hirano

IPC分类号： G01C21/00

CPC分类号： G01C21/30

摘要： There is a need for improving the accuracy of estimating a gain error for an angular velocity sensor. An error estimation section and a correction section are provided as well as a gyroscope that detects an angular velocity of a vehicle. The error estimation section assumes the gain error of the gyroscope to be a state quantity and finds an estimated value for the gain error using a Kalman filter. Based on the gain error found by the error estimation section, the correction section corrects a gain correction amount used for gain correction of values detected by the gyroscope. The correction section corrects the gain correction amount dedicated to right turn based on the gain error found by the error estimation section when the vehicle is assumed to turn right. The correction section corrects the gain correction amount dedicated to left turn based on the gain error found by the error estimation section when the vehicle is assumed to turn left.

摘要翻译： 需要提高角速度传感器的增益误差的估计精度。 提供了误差估计部和校正部，以及检测车辆的角速度的陀螺仪。 误差估计部分将陀螺仪的增益误差作为状态量，并使用卡尔曼滤波器求出增益误差的估计值。 基于由误差估计部分发现的增益误差，校正部分校正用于陀螺仪检测到的值的增益校正的增益校正量。 当车辆被判定为右转时，校正部分基于由误差估计部分发现的增益误差来校正专用于右转的增益校正量。 基于当车辆左转时由误差估计部发现的增益误差，校正部分校正专用于左转的增益校正量。

公开(公告)号：US20060212216A1

公开(公告)日：2006-09-21

申请号：US11376211

申请日：2006-03-16

申请人： Nobuharu Kobayashi ,  Kiyoshi Tsurumi

发明人： Nobuharu Kobayashi ,  Kiyoshi Tsurumi

IPC分类号： G01C21/26

CPC分类号： G01C21/30 ,  G01C21/3492 ,  G08G1/0968 ,  G08G1/096844 ,  G08G1/096861

摘要： When a first one-way traffic road becomes partially impassable because of roadworks, a second one-way traffic road temporarily replaces the first road and is used in a direction opposite to an original trafficable direction. This second road is registered as a replacing road based on traffic information from the VICS center. When the second road registered as the replacing road is present within a given area surrounding the current position of a relevant vehicle, map matching is executed without considering the original trafficable direction of the second road. This allows the second road to be designated as a travel road through the map matching even when the relevant vehicle travels in a direction opposite to the original trafficable direction of the second road.

摘要翻译： 当第一单向交通路由于道路工程而部分地不能通行时，第二单向交通道路临时替代第一道路并且沿与原始可行驶方向相反的方向使用。 该第二条道路根据VICS中心的交通信息登记为替代道路。 当在相关车辆的当前位置周围的给定区域内存在注册为替换道路的第二道路时，在不考虑第二道路的原始可行驶方向的情况下执行地图匹配。 即使当相关车辆沿与第二道路的原始可行驶方向相反的方向行驶时，也可以通过地图匹配将第二道路指定为行驶路。

公开(公告)号：US06658353B2

公开(公告)日：2003-12-02

申请号：US09985765

申请日：2001-11-06

申请人： Yasuhiro Shimizu ,  Kiyoshi Tsurumi

发明人： Yasuhiro Shimizu ,  Kiyoshi Tsurumi

IPC分类号： G01S502

CPC分类号： G01C21/28

摘要： In a vehicle navigation apparatus having a control section which calculates relative vehicle positions and travel direction by dead reckoning calculations based on outputs from on-board sensors and periodically acquires GPS measurement data via a GPS receiver and applies error-reduction filter processing to these data to obtain position and travel direction information for correcting the calculated relative positions, the apparatus has a function for detecting that a travel direction obtained by dead reckoning contains an excessive error, and when that condition is detected, for directly applying an estimated vehicle position and travel direction derived directly from the GPS data, without filter processing, to correct the corresponding relative position and travel direction estimates. Rapid correction can thereby be achieved when the vehicle has been operated in a condition whereby a large amount of error has suddenly arisen in the travel direction that is estimated by the apparatus through dead reckoning calculation, e.g., after the vehicle has been rotated on a turntable with the vehicle navigation apparatus inoperative.

摘要翻译： 在具有通过基于车载传感器的输出的航位推算计算来计算相对车辆位置和行驶方向的控制部的车辆用导航装置中，通过GPS接收器周期性地取得GPS测量数据，并对这些数据进行误差减少滤波处理 获得用于校正所计算的相对位置的位置和行进方向信息，该装置具有检测通过航位推算获得的行驶方向包含过大误差的功能，并且当检测到该状态时，直接应用估计的车辆位置和行驶方向 从GPS数据直接导出，不进行滤波处理，校正相应的相对位置和行驶方向估计。 因此，当车辆已经在由该装置通过航位推算计算估计的行进方向上突然出现大量误差的情况下，例如在车辆在转台上旋转之后，可以实现快速校正 车载导航仪无效。

公开(公告)号：US20130338850A1

公开(公告)日：2013-12-19

申请号：US13978012

申请日：2012-02-20

申请人： Masatoshi Takahara ,  Shogo Sugimoto ,  Kuniaki Tanaka ,  Kiyoshi Tsurumi ,  Yuya Higuchi

发明人： Masatoshi Takahara ,  Shogo Sugimoto ,  Kuniaki Tanaka ,  Kiyoshi Tsurumi ,  Yuya Higuchi

IPC分类号： G01C21/26

CPC分类号： G01C21/26 ,  G01C21/3697 ,  G08G1/056 ,  G08G1/167

摘要： Various sensors, such as a GPS and a vehicle speed sensor, are used to detect a current position and direction of a vehicle. A normal running direction, which is a running direction specified for a road on which the vehicle runs, is acquired. In a state where a vehicle speed pulse is acquired at the predetermined intervals, it is detected whether the vehicle is placed in a wrong-way driving situation on the basis of the detected current direction of the vehicle and the normal running direction; whereas, in a state where a vehicle speed pulse is not acquired, it is not detected whether the vehicle is placed in the wrong-way driving situation on the basis of the detected current direction of the vehicle.

摘要翻译： 使用各种传感器，例如GPS和车速传感器来检测车辆的当前位置和方向。 获取作为车辆行驶的道路指定的行驶方向的正常行驶方向。 在以规定间隔获取车速脉冲的状态下，根据检测到的车辆的当前方向和正常行驶方向，检测车辆是否处于错误行驶状态; 而在没有获取车速脉冲的状态下，根据检测到的车辆的当前方向，不检测车辆是否处于错误行驶状态。

公开(公告)号：US20090119016A1

公开(公告)日：2009-05-07

申请号：US12289800

申请日：2008-11-04

申请人： Hideki Tanino ,  Kiyoshi Tsurumi ,  Hiroshige Asada ,  Kenji Nakayama ,  Akihiro Hirano

发明人： Hideki Tanino ,  Kiyoshi Tsurumi ,  Hiroshige Asada ,  Kenji Nakayama ,  Akihiro Hirano

IPC分类号： G01C21/10 ,  G01P21/00

CPC分类号： G01C21/30

摘要： There is a need for improving the accuracy of estimating a gain error for an angular velocity sensor. An error estimation section and a correction section are provided as well as a gyroscope that detects an angular velocity of a vehicle. The error estimation section assumes the gain error of the gyroscope to be a state quantity and finds an estimated value for the gain error using a Kalman filter. Based on the gain error found by the error estimation section, the correction section corrects a gain correction amount used for gain correction of values detected by the gyroscope. The correction section corrects the gain correction amount dedicated to right turn based on the gain error found by the error estimation section when the vehicle is assumed to turn right. The correction section corrects the gain correction amount dedicated to left turn based on the gain error found by the error estimation section when the vehicle is assumed to turn left.

摘要翻译： 需要提高角速度传感器的增益误差的估计精度。 提供了误差估计部和校正部，以及检测车辆的角速度的陀螺仪。 误差估计部分将陀螺仪的增益误差作为状态量，并使用卡尔曼滤波器求出增益误差的估计值。 基于由误差估计部分发现的增益误差，校正部分校正用于陀螺仪检测到的值的增益校正的增益校正量。 当车辆被判定为右转时，校正部分基于由误差估计部分发现的增益误差来校正专用于右转的增益校正量。 基于当车辆左转时由误差估计部发现的增益误差，校正部分校正专用于左转的增益校正量。

公开(公告)号：US20060293852A1

公开(公告)日：2006-12-28

申请号：US11365807

申请日：2006-03-02

申请人： Kiyoshi Tsurumi

发明人： Kiyoshi Tsurumi

IPC分类号： G01C21/00

CPC分类号： G01S19/22 ,  G01C21/28 ,  G01S19/24

摘要： In a position detecting system by use of GPS signals, a navigation information retrieving part retrieves reception strength information outputted from a navigation device when a current position of a mobile body is in a region in which a multipath is liable to occur. A reception sensitivity change part changes, based on the reception strength information retrieved by the navigation information retrieving part, a threshold level in a reception sensitivity filter part to a level higher than a normal level, which is a reception strength when a direct wave is received. Thereby, the reception sensitivity of the GPS signals is reduced.

摘要翻译： 在通过使用GPS信号的位置检测系统中，当移动体的当前位置处于容易出现多路径的区域时，导航信息检索部件检索从导航装置输出的接收强度信息。 接收灵敏度变化部根据由导航信息检索部检索到的接收强度信息，将接收灵敏度滤波器部分中的阈值电平改变为高于正常电平的电平，该电平是接收直接波时的接收强度 。 由此，GPS信号的接收灵敏度降低。

公开(公告)号：US07096116B2

公开(公告)日：2006-08-22

申请号：US10747448

申请日：2003-12-30

申请人： Hiroki Tanaka ,  Kiyoshi Tsurumi

发明人： Hiroki Tanaka ,  Kiyoshi Tsurumi

IPC分类号： G01C21/26 ,  G01S1/00

CPC分类号： G01C21/00 ,  B60T2201/10 ,  G01C21/28 ,  G01C25/00 ,  G01S19/49

摘要： A vehicle behavior detector obtains detection information from autonomous sensors to detect a change in vehicle behavior. The detection information is calibrated based on position, bearing, and vehicle speed information obtained from a GPS receiver. For example, the vehicle behavior detector calibrates detection information obtained from the vehicle speed sensor and the angular speed sensor with a Kalman filter process. It is difficult to use only the autonomous sensors to calibrate characteristics changes due to individual sensor differences, environmental changes, and aged deterioration. With using GPS information for calibration, the vehicle behavior detector can accurately detect the vehicle behavior. The accuracy is improved for detection information itself to be output from the vehicle behavior detector to external apparatuses. Using this calibrated detection information, the external apparatuses can perform processes appropriately.

摘要翻译： 车辆行为检测器从自主传感器获取检测信息，以检测车辆行为的变化。 基于从GPS接收器获得的位置，方位和车速信息校准检测信息。 例如，车辆行为检测器通过卡尔曼滤波处理来校准从车速传感器和角速度传感器获得的检测信息。 仅使用自主传感器来校准由于各个传感器差异，环境变化和老化变差引起的特性变化是困难的。 使用GPS信息进行校准，车辆行为检测器可以准确地检测车辆行为。 提高了检测信息本身从车辆行为检测器输出到外部装置的精度。 使用该校准的检测信息，外部设备可以适当地执行处理。