公开(公告)号：US08983709B2

公开(公告)日：2015-03-17

申请号：US14357130

申请日：2011-11-09

申请人： Mikio Bando ,  Yukihiro Kawamata

发明人： Mikio Bando ,  Yukihiro Kawamata

IPC分类号： G05D1/02 ,  G01C21/34 ,  B60W30/14 ,  G01C21/28 ,  G08G1/0962 ,  G08G1/0967

CPC分类号： G05D1/0274 ,  B60W30/14 ,  G01C21/28 ,  G01C21/3461 ,  G05D2201/0213 ,  G08G1/0962 ,  G08G1/096716 ,  G08G1/096758 ,  G08G1/096783

摘要： Provided is an autonomous travel system having an operation management unit including a map database with a combination of topological region maps, on which the range of travel of a vehicle is expressed as points and lines, and metric region maps, on which the travel range is expressed on planar maps; a vehicle position management unit for managing the position of the vehicle; and a vehicle travel planning unit for planning vehicle travel, which, if the vehicle is present near the boundary of a map, blocks the map boundary so that other vehicles will not advance into another map. The operation management unit is provided with a blockage setting unit for dividing a boundary section of a map into a plurality of regions and releasing the blockage of the boundary of a divided region in which no vehicles are present in front of the vehicle in the direction of travel.

摘要翻译： 提供了一种具有操作管理单元的自主旅行系统，该操作管理单元包括具有将车辆的行驶范围表示为点和线的拓扑区域图的组合的地图数据库以及旅行范围为的公制区域图 在平面图上表达; 车辆位置管理单元，用于管理车辆的位置; 以及用于规划车辆行驶的车辆行驶规划单元，如果车辆在地图边界附近存在，则阻挡地图边界，使得其他车辆不会前进到另一个地图。 操作管理单元设置有阻挡设置单元，用于将地图的边界部分划分为多个区域，并且释放在车辆前方没有车辆的划分区域的边界的阻塞方向 旅行。

公开(公告)号：US20140067256A1

公开(公告)日：2014-03-06

申请号：US14111117

申请日：2012-04-11

申请人： Toshiyuki Aoki ,  Mikio Bando ,  Tomoaki Hiruta ,  Hiroyuki Kohida ,  Koichi Kato ,  Akihiro Kawabata

发明人： Toshiyuki Aoki ,  Mikio Bando ,  Tomoaki Hiruta ,  Hiroyuki Kohida ,  Koichi Kato ,  Akihiro Kawabata

IPC分类号： G01C21/30

CPC分类号： G01C21/30

摘要： A position calculation method includes: by using a current position of a mobile object, a link candidate point position, an error variance of positions of a plurality of links included in a region around the current position, and an error variance of azimuths of the plurality of links, calculating, an evaluation value that corresponds to a probability that the mobile object is traveling upon a road corresponding to each link candidate point, for each link including the each link candidate point; and calculating the current position based upon the evaluation value, by taking the mobile object as being positioned at a link candidate point, among a plurality of link candidate points, for which the probability is highest.

摘要翻译： 位置计算方法包括：通过使用移动对象的当前位置，链路候补点位置，包括在当前位置周围的区域中的多个链接的位置的误差方差和多个方位角的误差方差 对于包括每个链路候补点的每个链路，计算对应于移动对象在与每个链路候补点相对应的道路上行驶的概率的评估值; 并且通过将所述移动对象位于链路候补点处，在所述概率最高的多个链路候补点之中，基于所述评估值来计算当前位置。

公开(公告)号：US20130261921A1

公开(公告)日：2013-10-03

申请号：US13991995

申请日：2011-12-06

申请人： Mikio Bando ,  Yukihiro Kawamata ,  Toshiyuki Aoki

发明人： Mikio Bando ,  Yukihiro Kawamata ,  Toshiyuki Aoki

IPC分类号： G01C21/26

CPC分类号： G01C21/26 ,  G01C21/165 ,  G01C21/28 ,  G01C25/005 ,  G08G1/16

摘要： A driving support device includes a maximum measurement range determination unit adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle. A distance sensor such as a laser range finder or a stereo camera that measures a distance is used in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section. A sensor parameter estimation unit is adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor.

摘要翻译： 驾驶辅助装置包括：最大测量范围确定单元，用于计算与存在于车辆周围的物体的表面上的多个点的距离。 使用诸如激光测距仪或测量距离的立体摄像机之类的距离传感器，以便通过使用诸如立体相机或LRF之类的距离传感器校正偏差来高精度估计加速度传感器的偏差 在GPS非接收部分。 传感器参数估计单元适于基于从车辆平移获得的本车辆的行为和适于基于距离变化反向计算车辆行为的旋转角度计算装置以及基于测量值估计加速度传感器的参数 加速度传感器的值。

公开(公告)号：US08548664B2

公开(公告)日：2013-10-01

申请号：US12942682

申请日：2010-11-09

申请人： Takayuki Uchida ,  Yukihiro Kawamata ,  Katsuaki Tanaka ,  Mikio Bando

发明人： Takayuki Uchida ,  Yukihiro Kawamata ,  Katsuaki Tanaka ,  Mikio Bando

IPC分类号： G06F17/00 ,  G08G1/16 ,  G08G1/097

CPC分类号： G05D1/0297 ,  G05D2201/0205 ,  G05D2201/021

摘要： In an autonomic traveling apparatus for a vehicle, vehicles usually travel an independent travel lane and when there are two approaching vehicles on the independent travel lane, they switch to pass-by lanes to pass by each other. To do this switching operation effectively, respective vehicles check and obtain road conditions around them while they are traveling and the obtained road conditions are transmitted to and collected by a travel administration center so that the road conditions at various points along the lanes can be obtained from the travel administration center. Accordingly, when the autonomic traveling trucks approaching each other and supposed to pass by each other, switch to the associated pass-by lanes, they change travel lanes avoiding the point of bad road condition on the basis of the road conditions sent from the travel administration center.

摘要翻译： 在车辆的自主运动装置中，车辆通常行驶独立的行车道，并且当在独立行车道上有两辆接近的车辆时，他们切换到经过的路段。 为了有效地进行这种切换操作，各车辆在行驶时检查并获得他们周围的道路状况，并且所获得的道路状况被传送到行政管理中心并由行驶管理中心收集，使得可以从道路的各个点获得沿着车道的各个点的道路状况 旅行管理中心。 因此，当自主运输卡车彼此靠近并相互通过时，切换到相关的通行道路，根据从行政管理部门发送的道路状况，改变行车道，避免出现恶劣道路状况 中央。

公开(公告)号：US08301369B2

公开(公告)日：2012-10-30

申请号：US12818435

申请日：2010-06-18

申请人： Tomoaki Hiruta ,  Toshiyuki Aoki ,  Takayoshi Yokota ,  Mikio Bando ,  Kazuhiro Okada

发明人： Tomoaki Hiruta ,  Toshiyuki Aoki ,  Takayoshi Yokota ,  Mikio Bando ,  Kazuhiro Okada

IPC分类号： G01C21/00

CPC分类号： G01C21/30

摘要： A position detection apparatus includes a storage unit for storing map information including road information; a detection unit for detecting information for calculating an absolute position of a moving object; a position calculation unit for calculating the absolute position of the moving object and an error variance relating to an error of the moving object from the detected information; a read-out unit for reading out from the storage unit the road information of a road relating to the calculated absolute position; an existence probability calculation unit for calculating an existence probability of the moving object existing on the road from the absolute position, the error variance, and the read-out road information; a selection unit for selecting a position whose existence probability is maximum out of the calculated existence probability; and a map-matching processing unit for making the selected position a position of the moving object on the road.

摘要翻译： 位置检测装置包括：存储单元，用于存储包括道路信息的地图信息; 检测单元，用于检测用于计算移动物体的绝对位置的信息; 位置计算单元，用于根据检测到的信息计算移动物体的绝对位置和与移动物体的误差有关的误差方差; 读出单元，用于从存储单元读出与所计算的绝对位置相关的道路的道路信息; 存在概率计算单元，用于从绝对位置，误差变化和读出道路信息计算存在于道路上的移动物体的存在概率; 选择单元，用于从所计算的存在概率中选择存在概率最大的位置; 以及地图匹配处理单元，用于使所选择的位置在道路上移动物体的位置。

公开(公告)号：US20120078572A1

公开(公告)日：2012-03-29

申请号：US13228126

申请日：2011-09-08

申请人： Mikio Bando ,  Yukihiro Kawamata ,  Toshiyuki Aoki

发明人： Mikio Bando ,  Yukihiro Kawamata ,  Toshiyuki Aoki

IPC分类号： G06F15/00

CPC分类号： G08G1/0112

摘要： A road surface condition estimating device includes an undulation estimating portion for estimating undulations on the trajectory of a traveling vehicle from behavioral information about plural vehicles collected during travel of the vehicles, and a rut estimating portion for estimating undulations of ruts relative to the trajectories of the vehicles from the trajectories of traveling vehicles and from the behavioral information about the vehicles. The behavioral information includes information about positions, postures, and speeds of travel of the vehicles. Undulations on the trajectory of each traveling vehicle found by the undulation estimating portion and undulations of ruts relative to the trajectory of the traveling vehicle are superimposed for each vehicle to find road surface conditions, which are delivered to the vehicles.

摘要翻译： 路面状态估计装置包括：波动估计部，用于根据关于在车辆行驶期间收集的多个车辆的行为信息来估计行驶车辆的轨迹的波动;以及车辙估计部，用于估计相对于所述车辆的轨迹的轨迹的波动 从行车轨迹和车辆行为信息的车辆。 行为信息包括关于车辆的位置，姿势和行驶速度的信息。 通过波动估计部分发现的每个行驶车辆的轨迹上的摆动和相对于行驶车辆的轨迹的倾斜度的波动叠加，以找到传递给车辆的路面状况。

公开(公告)号：US08060303B2

公开(公告)日：2011-11-15

申请号：US12174834

申请日：2008-07-17

申请人： Mikio Bando ,  Masao Sakata

发明人： Mikio Bando ,  Masao Sakata

IPC分类号： G08G1/0968 ,  G01C21/36

CPC分类号： G01C21/36 ,  G08G1/096716 ,  G08G1/096758 ,  G08G1/096775 ,  G08G1/096791 ,  G08G1/096827 ,  G08G1/096844 ,  G08G1/096861 ,  G08G1/167

摘要： A vehicle is guided to a lane that the vehicle should run, even if map data do not include lane information of a tollgate.A navigation processing part 100 makes a vehicle running path calculation part 112 calculate a running path of the vehicle from a point of a prescribed distance from the tollgate until an ETC receipt signal receiving part 114 receives an ETC receipt signal. Then, the navigation processing part 100 calculates an approximate position of an ETC lane on the basis of the running path, and accumulates the calculated approximate position in a storage unit. Further, when the vehicle approaches to the tollgate within a prescribed distance from the tollgate, the navigation processing part 100 obtains the approximate position of the ETC lane of the tollgate from the storage unit, and displays the approximate position through a display processing part 106, to guide the user to the ETC lane.

摘要翻译： 即使地图数据不包括收费站的车道信息，车辆也被引导到车辆应该行驶的车道。 导航处理部100使车辆行驶路径计算部112从收费站的规定距离的点算出车辆的行驶路径，直到ETC接收信号接收部114接收到ETC接收信号。 然后，导航处理部100基于运行路径计算ETC车道的近似位置，并将计算出的近似位置累加在存储部中。 此外，当车辆从收费站接近收费站一定距离时，导航处理部分100从存储单元获取收费站的ETC车道的大致位置，并通过显示处理部分106显示大致位置， 引导用户到ETC车道。

公开(公告)号：US20110244881A1

公开(公告)日：2011-10-06

申请号：US13030237

申请日：2011-02-18

申请人： Mikio BANDO ,  Katsuaki TANAKA ,  Yukihiro KAWAMATA ,  Toshiyuki AOKI

发明人： Mikio BANDO ,  Katsuaki TANAKA ,  Yukihiro KAWAMATA ,  Toshiyuki AOKI

IPC分类号： H04W24/00

CPC分类号： G01S19/40 ,  G01S5/0072 ,  G01S5/021 ,  G01S19/46

摘要： A location estimation system includes: a position measurement unit that receives position measurement signals from a plurality of sources of emission, and calculates position information of a first mobile object; a distance measurement unit that measures a distance from the first mobile object and to a second mobile object; a relationship determination unit that determines presence or absence of a relationship between the first mobile object and the second mobile object based upon relative position of the second mobile object based upon the distance, and selects position measurement signals from sources of emission that are different from the sources of emission of the position measurement signals received by the first mobile object; a position correction unit that corrects a position of the first mobile object based upon the position measurement signals received by the first mobile object and the position measurement signals selected by the relationship determination means.

摘要翻译： 位置估计系统包括：位置测量单元，其从多个发射源接收位置测量信号，并且计算第一移动物体的位置信息; 距离测量单元，其测量从第一移动对象和第二移动对象的距离; 关系确定单元，其基于所述距离，基于所述第二移动对象的相对位置来确定所述第一移动对象与所述第二移动对象之间的关系的存在与否，并且从与所述第二移动对象不同的发射源选择位置测量信号 由第一移动物体接收的位置测量信号的发射源; 位置校正单元，其基于由第一移动体接收的位置测量信号和由关系确定装置选择的位置测量信号来校正第一移动体的位置。

公开(公告)号：US20110208496A1

公开(公告)日：2011-08-25

申请号：US13029570

申请日：2011-02-17

申请人： Mikio Bando ,  Toshiyuki Aoki ,  Tomoaki Hiruta ,  Takayoshi Yokota ,  Hiroyuki Kohida ,  Kazuhiro Okada ,  Zhixing Liu

发明人： Mikio Bando ,  Toshiyuki Aoki ,  Tomoaki Hiruta ,  Takayoshi Yokota ,  Hiroyuki Kohida ,  Kazuhiro Okada ,  Zhixing Liu

IPC分类号： G06F17/10

CPC分类号： G01S19/49 ,  G01S19/40

摘要： A position estimation device includes: a mathematical expression model processing unit that calculates a position of a mobile object, a condition quantity indicating a moving condition of the mobile object and an error in the condition quantity through filtering processing executed by using a probability model based upon an attitude information and a positioning information of the mobile object having been obtained from sensors and a specific mathematical expression model among a plurality of mathematical expression models expressing behavior of the mobile object; a threshold calculation unit that calculates a threshold candidate value for a threshold value to be used as a criterion when selecting the specific mathematical expression model, by using the error; a threshold value determining unit that determines the threshold value based upon the threshold candidate value; and a mathematical expression model selection unit that selects the specific mathematical expression model based upon the threshold value.

摘要翻译： 位置估计装置包括：数学表达式模型处理单元，其通过使用基于以下的概率模型执行的滤波处理来计算移动体的位置，表示移动体的移动状态的状态量和状态量的误差 已经从表示该移动体的行为的多个数学表达式模型中的传感器和特定数学表达式模型获得了移动对象的姿态信息和定位信息; 阈值计算单元，其通过使用所述误差来计算在选择所述特定数学表达式模型时用作准则的阈值的阈值候选值; 阈值确定单元，其基于所述阈值候选值来确定所述阈值; 以及基于所述阈值选择所述特定数学表达式模型的数学表达式模型选择单元。

公开(公告)号：US08005602B2

公开(公告)日：2011-08-23

申请号：US11655196

申请日：2007-01-19

申请人： Mikio Bando ,  Takeshi Inoue ,  Koichiro Tanikoshi ,  Masao Sakata ,  Hiroshi Sakamoto ,  Masato Imai

发明人： Mikio Bando ,  Takeshi Inoue ,  Koichiro Tanikoshi ,  Masao Sakata ,  Hiroshi Sakamoto ,  Masato Imai

IPC分类号： B60T8/32 ,  G01C21/00

CPC分类号： B60T7/22 ,  B60T2210/36 ,  B60W10/04 ,  B60W30/16 ,  B60W40/02 ,  B60W40/105 ,  B60W2550/14 ,  B60W2550/402 ,  B60W2720/106

摘要： The present invention relates to a vehicle speed control device for controlling a speed of a vehicle. The vehicle speed control device includes a current location error estimation section for extracting area attribute information from the map information, for producing a location error probability distribution, a target speed calculation section for receiving the target speed correction instruction, for accessing preset data that shows an acceleration or a gradient of an acceleration which allows a driver not to feel uncomfortable, and for computing target speed values at nodes over the distance in such a way that the target speed values create a continuous curve, and a speed control section for sensing a speed of a vehicle, and for controlling a driving torque of the vehicle so that the sensed speed traces the continuous curve composed of the target speed values.

摘要翻译： 本发明涉及一种用于控制车辆速度的车速控制装置。 车速控制装置包括：当前位置误差估计部分，用于从地图信息中提取区域属性信息，用于产生位置误差概率分布;目标速度计算部分，用于接收目标速度校正指令，用于访问显示一个 加速度或加速度的梯度，其允许驾驶员不感到不舒服，并且用于以目标速度值产生连续曲线的方式计算距离上的节点处的目标速度值;以及速度控制部分，用于感测速度 并且用于控制车辆的驱动扭矩，使得感测的速度跟踪由目标速度值组成的连续曲线。