公开(公告)号：US09150221B2

公开(公告)日：2015-10-06

申请号：US13386794

申请日：2009-07-29

申请人： Yoh Sato ,  Yoshinori Kadowaki ,  Kazunori Kagawa

发明人： Yoh Sato ,  Yoshinori Kadowaki ,  Kazunori Kagawa

IPC分类号： G08G1/00 ,  B60W30/16 ,  G08G1/16

CPC分类号： B60W30/16 ,  B60W2550/302 ,  B60W2550/408 ,  G08G1/163 ,  G08G1/22

摘要： An ECU of a vehicle control device selects a system-mounted vehicle traveling ahead of a system-mounted vehicle as a cooperating vehicle and controls the inter-vehicle distance between the selected system-mounted vehicle and the system-mounted vehicle, or the like to control the traffic volume of a road in the vicinity of the system-mounted vehicles, such that traffic jams can be prevented effectively as compared with a case where the system-mounted vehicle performs travel control independently. Furthermore, the ECU determines whether or not to select the system-mounted vehicle as a cooperating vehicle based on the relative speed of the system-mounted vehicle and the system-mounted vehicle a regardless of whether or not the system-mounted vehicle that is selected as the cooperating vehicle is traveling in the same lane as the system-mounted vehicle, such that it is possible to select the cooperating system-mounted vehicle without being influenced by the accuracy of recognizing the lane in which the system-mounted vehicle travels.

摘要翻译： 车辆控制装置的ECU选择作为协作车辆在系统安装车辆前方行驶的系统安装车辆，并且控制所选择的系统安装车辆与系统安装车辆之间的车辆间距离等 控制系统安装车辆附近的道路的交通量，与系统安装车辆独立地执行行驶控制的情况相比，能够有效地防止交通堵塞。 此外，ECU基于系统安装车辆和系统安装车辆a的相对速度来确定是否选择系统安装的车辆作为协作车辆，而不管选择的系统安装的车辆是否 由于协作车辆与系统搭载车辆在同一车道上行驶，所以可以不受系统安装车辆行驶的车道识别精度的影响而选择配合的搭载车载车辆。

公开(公告)号：US08958986B2

公开(公告)日：2015-02-17

申请号：US13807520

申请日：2011-06-28

申请人： Kazunori Kagawa ,  Yuka Sobue ,  Satoru Niwa ,  Shin Tanaka ,  Akihisa Yokoyama ,  Kazuhiro Morimoto ,  Junichi Wakita ,  Chika Yoshioka ,  Yu Hiei ,  Ryuji Okamura

发明人： Kazunori Kagawa ,  Yuka Sobue ,  Satoru Niwa ,  Shin Tanaka ,  Akihisa Yokoyama ,  Kazuhiro Morimoto ,  Junichi Wakita ,  Chika Yoshioka ,  Yu Hiei ,  Ryuji Okamura

IPC分类号： G01C21/00 ,  B60Q1/48

CPC分类号： G01C21/00 ,  B62D15/0275 ,  B62D15/028

摘要： A parking assistance apparatus includes a display unit that displays an image of a scene behind a host vehicle. At least when the host vehicle moves forward or when the host vehicle is stopped, the display unit displays an indication including a plurality of kinds of trajectories along which the host vehicle is able to back up from a point at which the host vehicle is currently positioned, in a manner such that the indication is superimposed on the image of the scene behind the host vehicle.

摘要翻译： 一种停车辅助装置包括：显示单元，其显示主车辆后方的场景的图像。 至少当主车辆向前移动或当主车辆停止时，显示单元显示包括主车辆能够从主车辆当前位置的点能够沿着哪一种轨迹的指示 ，使得该指示叠加在主车辆后面的场景的图像上。

公开(公告)号：US08725412B2

公开(公告)日：2014-05-13

申请号：US12305397

申请日：2007-06-08

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G01C21/30 ,  G01S19/49

CPC分类号： G01C21/165 ,  G01C21/28 ,  G01S19/48 ,  G01S19/49 ,  G08G1/09623 ,  G08G1/0969

摘要： A positioning device includes a map data storing unit configured to store map data; autonomous sensors configured to detect behavior information of a moving object; an inertial positioning unit configured to detect an estimated position of the moving object by applying the behavior information detected by the autonomous sensors to positioning results obtained by an electronic navigation positioning unit such as a GPS; a planimetric feature detecting unit configured to detect a planimetric feature located around a road; a planimetric feature position identifying unit configured to identify a position of the planimetric feature; a planimetric feature reference positioning unit configured to estimate a planimetric feature estimated position of the moving object by using the position of the planimetric feature as a reference; and a position estimating unit configured to estimate a position of the moving object by applying the estimated position and the planimetric feature estimated position to a Kalman filter.

摘要翻译： 定位装置包括配置为存储地图数据的地图数据存储单元; 自动传感器，被配置为检测移动物体的行为信息; 惯性定位单元，被配置为通过将由所述自主传感器检测到的行为信息应用于由诸如GPS的电子导航定位单元获得的定位结果来检测所述移动物体的估计位置; 配置为检测位于道路周围的平面特征的平面测量特征检测单元; 平面图特征位置识别单元，被配置为识别平面图特征的位置; 平面测量特征参考定位单元，被配置为通过使用平面图特征的位置作为参考来估计移动物体的平面特征估计位置; 以及位置估计单元，被配置为通过将估计位置和平面特征估计位置应用于卡尔曼滤波器来估计移动物体的位置。

公开(公告)号：US08532159B2

公开(公告)日：2013-09-10

申请号：US12670878

申请日：2008-08-28

申请人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

发明人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

IPC分类号： H04B1/00

CPC分类号： G08G1/161 ,  B60R21/0134 ,  B60T7/22 ,  B60W30/08 ,  G01S5/0072 ,  G01S11/08

摘要： A transmitter has a portion that sets a parameter about the transmitter itself based on a parameter made to correspond to a condition for selecting a receiver with which the transmitter communicate with, a portion that generates a spread code based on the set parameter, and a sending portion that spreads transmit-data to form a spread signal by the generated spread code, and that sends the spread signal. The receiver has a portion that receives the signal transmitted by the transmitter, a portion that sets a parameter about the receiver itself based on the parameter made to correspond to the condition, a portion that generates a despread code based on the set parameter, a portion that performs a correlation computation of the received signal and the generated despread code, and a portion that selects a transmitter with which the receiver communicates, based on a result of the correlation computation.

摘要翻译： 发射机具有一部分，其基于与用于选择发射机通信的接收机的条件相对应的参数，基于所设置的参数生成扩展码的部分，以及发送器 扩展发送数据以通过所生成的扩展码形成扩展信号的部分，并且发送扩展信号。 接收机具有接收由发射机发送的信号的部分，基于对应于该条件的参数设置关于接收机本身的参数的部分，基于所设置的参数产生解扩码的部分，部分 执行接收信号和所生成的解扩码的相关计算，以及基于相关计算的结果选择接收机与之通信的发送机的部分。

公开(公告)号：US08244470B2

公开(公告)日：2012-08-14

申请号：US12308942

申请日：2007-07-11

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G08G1/123

CPC分类号： G01C21/30

摘要： A navigation apparatus that detects a position of a movable body includes map data storage means for storing map data; an autonomous sensor that detects information on behavior of the movable body; inertial position determination means for detecting an inertial position-determination position of the movable body, by accumulating the information detected by the autonomous sensor on a result of position determination performed using radio navigation; characteristic position detection means for detecting a characteristic position that is the inertial position-determination position at which the movable body has exhibited a characteristic behavior; correction amount detection means for extracting positional information on a road position corresponding to the characteristic position, by referring to the map data storage means; and position correction means for correcting the characteristic position using a Kalman filter based on a condition that the characteristic position is close to the road position.

摘要翻译： 检测可移动体的位置的导航装置包括用于存储地图数据的地图数据存储装置; 检测关于可移动体的行为的信息的自主传感器; 惯性位置确定装置，用于通过根据使用无线电导航执行的位置确定的结果积累由自主传感器检测到的信息来检测可移动体的惯性位置确定位置; 特征位置检测装置，用于检测作为可移动体具有特征行为的惯性位置确定位置的特征位置; 校正量检测装置，用于通过参考地图数据存储装置提取与特征位置相对应的道路位置上的位置信息; 以及位置校正装置，用于基于特征位置接近道路位置的条件，使用卡尔曼滤波器来校正特征位置。

公开(公告)号：US20120123658A1

公开(公告)日：2012-05-17

申请号：US13387288

申请日：2009-07-28

申请人： Kazunori Kagawa

发明人： Kazunori Kagawa

IPC分类号： B60W30/14

CPC分类号： B60W30/16 ,  B60W50/0097 ,  B60W2550/142 ,  B60W2550/143 ,  B60W2550/402 ,  B60W2550/404 ,  B60W2550/408 ,  B60W2750/308 ,  G08G1/161 ,  G08G1/164 ,  G08G1/22

摘要： A navigation system acquired information relating to a point, such as a sag where a decrease in vehicle speed is induced in front of a system-mounted vehicle. When the system-mounted vehicle has reached a predetermined distance from the sag concerning the information acquired by the navigation system or when a predetermined time has come before reaching the sag, an ECU and an ACC controls the traveling of the system-mounted vehicle such that the inter-vehicle distance from an ordinary vehicle behind the system-mounted vehicle increases. Therefore, even when a vehicle control device is not mounted in an ordinary vehicle behind the system-mounted vehicle, it becomes possible to prevent a decrease in the speed of the ordinary vehicle behind the system-mounted vehicle, thereby more effectively suppressing congestion.

摘要翻译： 导航系统获取与系统安装车辆前方引起的车速降低的点的信息有关的信息。 当系统安装的车辆已经达到与由导航系统获取的信息相关的下垂预定距离时，或者当达到下垂之前已经达到预定时间时，ECU和ACC控制系统安装车辆的行驶，使得 与系统安装车辆后面的普通车辆的车间距离增加。 因此，即使在车载控制装置未安装在系统安装车辆后面的普通车辆中的情况下，也可以防止系统安装车辆后方的普通车辆的速度下降，从而更有效地抑制拥堵。

公开(公告)号：US08041472B2

公开(公告)日：2011-10-18

申请号：US12089651

申请日：2007-06-08

申请人： Norimasa Kobori ,  Kazunori Kagawa

发明人： Norimasa Kobori ,  Kazunori Kagawa

IPC分类号： G01C21/00 ,  G01C21/30

CPC分类号： G01C21/00 ,  G01C21/30 ,  G01S19/48 ,  G01S19/49 ,  G08G1/096827 ,  G09B29/106

摘要： A positioning device that detects a position of a mobile body with a radio navigation positioning unit includes: first and second autonomous sensors obtaining behavioral information on the mobile body; a position detecting unit obtaining an estimated position and an estimated direction by updating a detection result based on the behavioral information from the first autonomous sensor; a map data positioning unit that refers to a map data storage unit based on the estimated position and obtains a map data linked position at a predetermined distance away from a link; a direction detecting unit obtaining a cumulative estimated direction by updating the detection result based on the behavioral information from the second autonomous sensor; and a most probable position estimating unit estimating the position of the mobile body from the estimated positions and directions using the Kalman filter.

摘要翻译： 利用无线导航定位单元检测移动体的位置的定位装置包括：第一和第二自主传感器，在移动体上获取行为信息; 位置检测单元通过基于来自第一自主传感器的行为信息更新检测结果来获得估计位置和估计方向; 地图数据定位单元，其基于估计位置参考地图数据存储单元，并且获得距离链接预定距离的地图数据链接位置; 方向检测单元，通过基于来自第二自主传感器的行为信息更新检测结果来获得累积估计方向; 以及最可能的位置估计单元，使用卡尔曼滤波器从所估计的位置和方向估计移动体的位置。

公开(公告)号：US20110054790A1

公开(公告)日：2011-03-03

申请号：US12989319

申请日：2009-04-23

申请人： Kazunori Kagawa ,  Masafumi Uchihara ,  Yasuhiro Tajima

发明人： Kazunori Kagawa ,  Masafumi Uchihara ,  Yasuhiro Tajima

IPC分类号： G01S5/14 ,  G01C21/00 ,  G01S19/43 ,  G01S19/51

CPC分类号： G01S5/0072 ,  G01S19/44 ,  G01S19/51

摘要： An inter-moving body interferometric positioning system for carrying out positioning in coordination with three or more moving bodies that can mutually communicate, including: a reference vehicle decision unit for deciding on a single moving body to function as a reference vehicle from among three or more moving bodies, and a positioning unit for interferometrically determining respective relative positions of other moving bodies relative to the reference moving body that is to function as a reference vehicle decided on by the reference moving body decision unit using satellite wave monitoring data monitored in each of the three or more moving bodies. This inter-moving body interferometric positioning system specifies relative positions among the other moving bodies using positioning results of the positioning unit.

摘要翻译： 一种移动体干涉定位系统，用于与可相互通信的三个或更多个移动体协调地执行定位，包括：参考车辆决定单元，用于从三个或更多个中选择用作参考车辆的单个移动体 移动体和定位单元，用于干涉地确定其他移动体相对于参考移动体的各自的相对位置，该基准运动体将用作参考运动物体决定单元所决定的参考车辆，其中，所述参考移动体使用在每个 三个或更多的移动体。 该移动体间干涉定位系统使用定位单元的定位结果来指定其他移动体中的相对位置。

公开(公告)号：US20100202495A1

公开(公告)日：2010-08-12

申请号：US12670878

申请日：2008-08-28

申请人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

发明人： Kazunori Kagawa ,  Norimasa Kobori ,  Yukinori Fujita

IPC分类号： H04B1/707

CPC分类号： G08G1/161 ,  B60R21/0134 ,  B60T7/22 ,  B60W30/08 ,  G01S5/0072 ,  G01S11/08

摘要： A transmitter has a portion that sets a parameter about the transmitter itself based on a parameter made to correspond to a condition for selecting a receiver with which the transmitter communicate with, a portion that generates a spread code based on the set parameter, and a sending portion that spreads transmit-data to form a spread signal by the generated spread code, and that sends the spread signal. The receiver has a portion that receives the signal transmitted by the transmitter, a portion that sets a parameter about the receiver itself based on the parameter made to correspond to the condition, a portion that generates a despread code based on the set parameter, a portion that performs a correlation computation of the received signal and the generated despread code, and a portion that selects a transmitter with which the receiver communicates, based on a result of the correlation computation.

摘要翻译： 发射机具有一部分，其基于与用于选择发射机通信的接收机的条件相对应的参数，基于所设置的参数生成扩展码的部分，以及发送器 扩展发送数据以通过所生成的扩展码形成扩展信号的部分，并且发送扩展信号。 接收机具有接收由发射机发送的信号的部分，基于对应于该条件的参数设置关于接收机本身的参数的部分，基于所设置的参数产生解扩码的部分，部分 执行接收信号和所生成的解扩码的相关计算，以及基于相关计算的结果选择接收机与之通信的发送机的部分。

公开(公告)号：US20100019963A1

公开(公告)日：2010-01-28

申请号：US12304934

申请日：2006-06-15

申请人： Jianchen Gao ,  Elizabeth Cannon ,  Mark Petovello ,  Kiyomi Nagamiya ,  Iwao Maeda ,  Kazunori Kagawa

发明人： Jianchen Gao ,  Elizabeth Cannon ,  Mark Petovello ,  Kiyomi Nagamiya ,  Iwao Maeda ,  Kazunori Kagawa

IPC分类号： G01S5/14

CPC分类号： G01S5/0027 ,  B60W2050/0013 ,  B60W2050/0033 ,  G01S19/38

摘要： A vehicular navigation and positioning method and system includes a GNSS receiver, an inertial navigation system and on-board vehicular sensors. Available data is integrated by a Kalman filter and vehicle position, velocity and attitude is updated as a result.

摘要翻译： 车辆导航定位方法和系统包括GNSS接收器，惯性导航系统和车载车辆传感器。 可用数据由卡尔曼滤波器和车辆位置集成，因此更新速度和姿态。