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1. 发明授权

US10761215B2 Positioning device and positioning method 有权
公开(公告)号：US10761215B2
公开(公告)日：2020-09-01
申请号：US16073695
申请日：2017-03-03
申请人： Mitsubishi Electric Corporation
发明人： Masashi Kido , Tadatomi Ishigami , Takashi Irie , Masatoshi Fujii , Kohei Fujimoto , Ryusuke Kinoshita
IPC分类号： G01S19/40 , G01S19/07 , G01S19/22 , G01S19/05 , G01S5/02 , G01S19/42
摘要： A code positioning part calculates a position of a subject vehicle and a receiver clock based on an orbit of a GNSS satellite in which an error indicated by a positioning reinforcing signal is corrected and a first corrected pseudorange being a pseudorange of the GNSS satellite in which an error indicated by the positioning reinforcing signal is corrected. A receiver clock bias error correction part determines a difference between a two-point range between a position of each of a plurality of GNSS satellites and the position of the subject vehicle and the first corrected pseudorange as an unknown error, and determines a receiver clock bias error of the pseudorange based on the unknown error. A code positioning correction part recalculates the position of the subject vehicle, using a second corrected pseudorange that is obtained by correcting the first corrected pseudorange using the receiver clock bias error.

2. 发明授权

US10088323B2 Navigation device 有权
公开(公告)号：US10088323B2
公开(公告)日：2018-10-02
申请号：US15799123
申请日：2017-10-31
申请人： Mitsubishi Electric Corporation
发明人： Kumi Nishibashi , Takashi Irie
IPC分类号： G09B29/00 , G09B29/10 , G01C21/34
摘要： A navigation device includes a route searching unit for searching for a route leading to an arbitrary point on the basis of map data acquired by a map data acquiring unit, an HOV lane determining unit for determining whether or not an HOV lane is included in the route which the route searching unit has searched for, a predicted arrival time calculating unit for, when the HOV lane determining unit determines that an HOV lane is included in the route, calculating a predicted arrival time required to arrive at the arbitrary point by way of the route which is shorter than a time required to arrive at the arbitrary point by way of a route in which no HOV lane is included, and a display processing unit for displaying the predicted arrival time calculated by the predicted arrival time calculating unit.

3. 发明授权

US11441907B2 Positioning device and positioning method 有权
公开(公告)号：US11441907B2
公开(公告)日：2022-09-13
申请号：US16475529
申请日：2017-01-30
申请人： Mitsubishi Electric Corporation
发明人： Tadatomi Ishigami , Takashi Irie , Masatoshi Fujii , Ryusuke Kinoshita , Kohei Fujimoto , Masashi Kido
IPC分类号： G01C21/16 , G01S19/39 , G01S19/22 , G01S19/33 , G01S19/41 , G01S19/43 , G01S19/46 , G01S19/49 , G01S19/52
摘要： In a locator device, a dead reckoning part calculates a position of a subject vehicle by dead reckoning. A pseudorange smoothing part smooths a pseudorange between a GNSS satellite and a position of the subject vehicle using a carrier wave phase of the GNSS satellite. A GNSS receiver positioning error evaluation part evaluates reliability of the position of the subject vehicle calculated by the multi-GNSS receiver. A GNSS positioning part (Kalman Filter (KF) method) calculates a position of the subject vehicle from a smoothed value of the pseudorange, a positioning augmentation signal, and an orbit of the GNSS satellite. A complex positioning part (KF method) calculates an error in the dead reckoning from the position of the subject vehicle calculated by the GNSS positioning part (KF method), and corrects the position of the subject vehicle calculated by the dead reckoning part based on the error in the dead reckoning.

4. 发明授权

US09341496B2 Navigation device 有权
标题翻译：导航设备
公开(公告)号：US09341496B2
公开(公告)日：2016-05-17
申请号：US14608832
申请日：2015-01-29
申请人： Mitsubishi Electric Corporation
发明人： Kumi Nishibashi , Takashi Irie
IPC分类号： G01C21/34 , G01C21/36 , G08G1/0968
CPC分类号： G01C21/3658 , G01C21/34 , G01C21/3655 , G08G1/096827 , G08G1/096844 , G08G1/096861
摘要： Disclosed is a navigation device which extracts an entrance and exit section which exists ahead of a vehicle and in which a vehicle is permitted to make a lane change between an HOV lane and a normal lane on the basis of position information about the position of the vehicle and map data in which the HOV lane and the normal lane are defined by a single link, extracts a branch point on the HOV lane which exists ahead of the vehicle on the basis of the map data and the position information about the position of the vehicle, determines a guidance time for a lane changing permitted section defined by the extracted entrance and exit section, and another guidance time for the branch point on the HOV lane, and provides exit guidance notifying that the vehicle can exit the HOV lane or entrance guidance notifying that the vehicle can enter the HOV lane at the determined guidance time, or provides branch guidance on the branch on the HOV lane at the determined other guidance time.
摘要翻译：公开了一种导航装置，其基于关于车辆的位置的位置信息来提取存在于车辆前方的入口和出口部分，并且允许车辆在HOV车道和正常车道之间进行车道改变并且通过单个链路定义HOV车道和正常车道的地图数据，基于地图数据和关于车辆的位置的位置信息，提取存在于车辆前方的HOV车道上的分支点确定由提取的入口和出口部分定义的车道改变允许部分的指导时间，以及HOV车道上的分支点的另一指导时间，并且提供通知车辆可以退出HOV车道或入口指导的出口指导车辆可以在确定的指导时间进入HOV车道，或者在确定的其他指导时间在HOV车道上的分支上提供分支指导。

5. 发明授权

US09562780B2 Navigation system 有权
标题翻译：导航系统
公开(公告)号：US09562780B2
公开(公告)日：2017-02-07
申请号：US14448569
申请日：2014-07-31
申请人： MITSUBISHI ELECTRIC CORPORATION
发明人： Kumi Nishibashi , Takashi Irie
IPC分类号： G01C21/26 , G01C21/32 , G01C21/34 , G01C21/36 , G09B29/00 , G09B29/10
CPC分类号： G01C21/34 , G01C21/3629 , G01C21/3658 , G09B29/007 , G09B29/10
摘要： A navigation system includes: a map information acquiring unit 31 for acquiring map information; an HOV lane decision unit 38 for deciding whether an HOV lane is included in a road represented by the map information acquired by the map information acquiring unit 31 or not; a road number processing unit 43 for performing, when the HOV lane decision unit 38 decides that the HOV lane is included, processing of adding information representing the HOV lane to a road number of the road including the HOV lane; and a display processing unit 44 or a voice information unit 46 for causing the road number passing through the processing by the road number processing unit 43 to be displayed on the guide map or output in voice.
摘要翻译：导航系统包括：地图信息获取单元31，用于获取地图信息; HOV车道判定单元38，用于判定由地图信息获取单元31获取的地图信息表示的道路中是否包括HOV车道; 道路号处理单元43，用于当HOV车道判定单元38判定包括HOV车道时，执行表示HOV车道的信息到包括HOV车道的道路的道路号码的处理; 以及用于使通过道路号码处理单元43的处理的道路号码显示在引导地图上或以语音输出的显示处理单元44或语音信息单元46。

6. 发明授权

US11193782B2 Vehicle position estimation apparatus 有权
公开(公告)号：US11193782B2
公开(公告)日：2021-12-07
申请号：US16481149
申请日：2017-12-18
申请人： Mitsubishi Electric Corporation
发明人： Kentaro Daikoku , Yuji Igarashi , Masahiko Ikawa , Masatoshi Fujii , Takashi Irie
IPC分类号： G01C21/36 , G01S19/42 , G06K9/00 , G08G1/04
摘要： A vehicle position estimation apparatus according to the present invention includes a painted line recognition result processing unit configured to calculate whether the vehicle has made a lane change and a direction of the lane change when the vehicle has made the lane change, a vehicle lateral position calculating unit configured to calculate a lane where the vehicle is in travel and a vehicle lateral position that is a lateral position of the vehicle in the lane based on whether the vehicle has made the lane change, the direction of the lane change, and a lane connection relation, and an on-map vehicle position calculating unit configured to calculate an on-map position of the vehicle on the road based on a map information, the lane where the vehicle is in travel, the vehicle lateral position, and a forward travel distance.

7. 发明授权

US10883836B2 Travel-lane estimation system 有权
公开(公告)号：US10883836B2
公开(公告)日：2021-01-05
申请号：US16099510
申请日：2016-07-05
申请人： Mitsubishi Electric Corporation
发明人： Kentaro Daikoku , Yuji Igarashi , Masahiko Ikawa , Masatoshi Fujii , Takashi Irie
IPC分类号： G01C21/30 , G08G1/0969 , G01C21/16 , G01C21/20 , G01S19/13
摘要： A travel-lane estimation system includes: a GNSS receiver; a vehicle-speed calculator; an angular-velocity measurement mechanism; a subject-vehicle-position positioner calculating a vehicle's reference coordinate and reference orientation from a GNSS coordinate, and calculating time series data of vehicle's positions; a map information storage storing positional information about a division line of each lane; and a lane estimator calculating, as an optimal correction amount, an error pattern having a highest posterior probability among plural error patterns, correcting the time series data using the optimal correction amount, and comparing the corrected time series data with the division line, to estimate a vehicle's travel lane, the posterior probability calculated with the product of prior occurrence probability of the time series data by the plural error patterns and a likelihood calculated, under condition that the error pattern has occurred, based on a relative positional relationship between the corrected time series data and the division line.

8. 发明授权

US10746551B2 Positioning apparatus and positioning method 有权
公开(公告)号：US10746551B2
公开(公告)日：2020-08-18
申请号：US15754195
申请日：2015-10-15
申请人： Mitsubishi Electric Corporation
发明人： Tadatomi Ishigami , Takashi Irie , Masatoshi Fujii , Kohei Fujimoto , Norihiro Nishiuma , Atsushi Mori
IPC分类号： G01C21/16 , G01S19/40 , G01S19/49 , G01C23/00 , G01S19/52 , G01P15/18
摘要： A positioning apparatus according to the present invention includes: a triaxial acceleration sensor zero point calculating unit which determines whether or not the moving body is performing horizontal plane uniform linear traveling, and calculates a zero point of the triaxial accelerations when a determination is made that the moving body is performing the horizontal plane uniform linear traveling, based on at least triaxial speeds, a longitudinal acceleration, and triaxial accelerations while the moving body is traveling; an apparatus housing attachment angle calculating unit which calculates a pitch direction attachment angle and a roll direction attachment angle based on the zero point of the triaxial accelerations; a triaxial angular velocity coordinate transforming unit which coordinate-transforms the triaxial angular velocities; and a position estimating unit which estimates a current position of the moving body based on at least a yaw rate obtained from the triaxial angular velocities.

9. 发明授权

US09851217B2 Navigation device 有权
公开(公告)号：US09851217B2
公开(公告)日：2017-12-26
申请号：US15056045
申请日：2016-02-29
申请人： Mitsubishi Electric Corporation
发明人： Kumi Nishibashi , Takashi Irie
IPC分类号： G08G1/00 , G01C21/34 , G01C21/26 , G01C21/36 , G08G1/0968
CPC分类号： G01C21/3658 , G01C21/34 , G01C21/3655 , G08G1/096827 , G08G1/096844 , G08G1/096861
摘要： Disclosed is a navigation device which extracts an entrance and exit section which exists ahead of a vehicle and in which a vehicle is permitted to make a lane change between an HOV lane and a normal lane on the basis of information about the position of the vehicle and map data in which the HOV lane and the normal lane are defined by a single link, extracts a branch point on the HOV lane existing ahead of the vehicle on the basis of the map data and the position information, determines a guidance time for the extracted entrance and exit section, and another guidance time for the branch point, and provides guidance notifying that the vehicle can exit the HOV lane or guidance notifying that the vehicle can enter the HOV lane at the guidance time, or provides guidance on the branch at the other guidance time.

10. 发明授权

US09304011B2 Map display device 有权
标题翻译：地图显示设备
公开(公告)号：US09304011B2
公开(公告)日：2016-04-05
申请号：US13958017
申请日：2013-08-02
申请人： MITSUBISHI ELECTRIC CORPORATION
发明人： Kumi Nishibashi , Takashi Irie
IPC分类号： G01C21/00 , G01C21/36
CPC分类号： G01C21/3667 , G01C21/3658 , G01C21/367
摘要： A map display device includes a map data acquiring unit 21 for acquiring map data, an HOV lane determining unit 26 for determining whether or not HOV lane information showing that an HOV lane exists is included in link data defining roads included in the map data acquired by the map data acquiring unit, a display processing unit 28 for, when the HOV lane determining unit determines that HOV lane information is included in the link data, creating display data showing that a symbol showing an HOV lane is superimposed on a road formed by the link data including the HOV lane information, and a display unit 6 for displaying a map on the basis of the display data created by the display processing unit.
摘要翻译：地图显示装置包括用于获取地图数据的地图数据获取单元21，HOV车道确定单元26，用于确定是否存在表示HOV车道的HOV车道信息是否包含在定义包含在由地图数据获取单元，显示处理单元28，用于当HOV车道确定单元确定HOV车道信息包括在链接数据中时，创建显示表示HOV车道的符号的显示数据被叠加在由包括HOV车道信息的链接数据和用于基于由显示处理单元创建的显示数据显示地图的显示单元6。

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