AU2023201201B2 - Own position calculating device - Google Patents
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- AU2023201201B2 AU2023201201B2 AU2023201201A AU2023201201A AU2023201201B2 AU 2023201201 B2 AU2023201201 B2 AU 2023201201B2 AU 2023201201 A AU2023201201 A AU 2023201201A AU 2023201201 A AU2023201201 A AU 2023201201A AU 2023201201 B2 AU2023201201 B2 AU 2023201201B2
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- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 230000037230 mobility Effects 0.000 claims description 236
- 238000012806 monitoring device Methods 0.000 claims description 21
- 241000237519 Bivalvia Species 0.000 claims 1
- 235000020639 clam Nutrition 0.000 claims 1
- 238000004891 communication Methods 0.000 description 14
- 238000012545 processing Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000006866 deterioration Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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Abstract
OWN POSITION CALCULATING DEVICE
ABSTRACT
An own position calculating device, including: a position calculating portion configured
to calculate an absolute position of an own mobility based on signals received from
satellites; a surroundings monitoring portion configured to monitor surroundings of the
own mobility; an information obtaining portion configured to obtain absolute position
information of a surrounding mobility that is a specific mobility located around the own
mobility; a relative position calculating portion configured to calculate a relative
position (S3) of the own mobility to the surrounding mobility when a reception status of
the signals is deteriorated, based on the absolute position information of the surrounding
mobility and a detection result of the surroundings monitoring portion; and a correcting
portion configured to correct absolute position information (S6) of the own mobility
calculated by the position calculating portion, based on the absolute position
information of the surrounding mobility and information on the relative position
calculated by the relative position calculating portion.
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Il/I
Description
Il/I
BACKGROUND Technical Field
[0001] The following disclosure relates to an own position calculating device of a mobility. Description of Related Art
[0002] The position of a mobility such as a vehicle is calculated based on information of the global positioning system (GPS), for instance. In calculating the mobility's position, a GPS receiver installed on the mobility needs to receive signals from GPS satellites. In a case where the reception status of the signals from the satellites is deteriorated, the accuracy of calculating the own position is lowered. As a technique of calculating the own position, WO 2015/097905 describes a management system in which an estimated position of a dump truck is corrected based on a position of a landmark obtained in advance and a relative position of the landmark and the dump truck.
[0003] The technique described above is based on the premise that a multiplicity of landmarks are provided in the entirety of a mine. In the mine, a situation is considered in which a small-sized mobility such as a pickup truck (small-sized cargo truck) travels along with a dump truck (large-sized heavy equipment). When the dump truck and the pickup truck travel in the same mine at the same timing, the pickup truck may enter the shadow of the dump truck (heavy equipment). In this case, the dump truck may adversely influence the reception status of the GPS signals in the pickup truck. Thus, the technique described above has a room for improvement.
[0003a] It is an object of the present invention to substantially overcome, or at least ameliorate, at least one disadvantage of present arrangements.
[0004] One aspect of the present disclosure is related to an own position calculating device capable of preventing or minimizing a reduction in the accuracy of calculating the own position in a situation in which a plurality of different kinds of mobilities that are different in size are traveling.
[0005] In one aspect of the present disclosure, an own position calculating device includes: a position calculating portion configured to calculate an absolute position of an own mobility based on signals received from satellites; a surroundings monitoring portion configured to monitor surroundings of the own mobility; an
41509542_1 information obtaining portion configured to obtain, through a communication network, absolute position information of a surrounding mobility that is a specific mobility located around the own mobility; a relative position calculating portion configured to calculate a relative position of the own mobility to the surrounding mobility when a reception status of the signals is deteriorated, based on the absolute position information of the surrounding mobility and a detection result of the surroundings monitoring portion; and a correcting portion configured to correct absolute position information of the own mobility, which is information on the absolute position of the own mobility calculated by the position calculating portion, based on the absolute position information of the surrounding mobility and information on the relative position calculated by the relative position calculating portion, when the reception status of the signals is deteriorated and configured not to correct the absolute position information of the own mobility, which is information on the absolute position of the own mobility calculated by the position calculating portion, when the reception status of the signals is not deteriorated.
[0006] In the own position calculating device according to some embodiments of the present disclosure, when the reception status of the signals from the satellites is deteriorated, the absolute position information of the own mobility is corrected based on the absolute position information of the surrounding mobility and the position of the own mobility relative to the surrounding mobility (which will be hereinafter referred to as the relative position of the own mobility to the surrounding mobility). With this configuration, even when the signal reception status of the own mobility is deteriorated due to the influence of other mobility, which is larger in size than the own mobility and which is traveling in the surroundings of the own mobility, the absolute position information of the own mobility is corrected based on the relative position of the own mobility to the large-sized mobility. Thus, the accuracy of the own position calculation is prevented from being lowered.
[00071 The objects, features, advantages, and technical and industrial significance of the present disclosure will be better understood by reading the following detailed description of an embodiment, when considered in connection with the accompanying drawings, in which: Fig. 1 is a view of a configuration of an own position calculating device according to one embodiment;
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Fig. 2 is a conceptual view for explaining identification of a surrounding mobility in the embodiment; and Fig. 3 is a flowchart indicating an example of control for correcting an own position in the embodiment.
[0008] Referring to the drawings, there will be described below in detail an own position calculating device 1 according to one embodiment of the present disclosure. It is to be understood that the present disclosure is not limited to the details of the following embodiment but may be embodied with various changes and modifications based on the knowledge of those skilled in the art. The mobility in the present disclosure may be referred to as a movable body. The mobility in the present disclosure is a concept including vehicles and heavy equipment.
[0009] As illustrated in Fig. 1, the own position calculating device 1 according to the present embodiment is provided in a mobility. The own position calculating device 1 includes a receiver 2, an arithmetic processing device 3, a wireless communication machine 4, and a surroundings monitoring device 5. In the present embodiment, the receiver 2 is a GPS receiver. The receiver 2 is a device configured to calculate an absolute position of an own mobility based on signals received from satellites (GPS satellites). Specifically, the receiver 2 includes: an antenna portion 21 configured to receive signals from the satellites; and a position calculating device (corresponding to "position calculating portion") 22 configured to calculate the absolute position of the own mobility based on the signals received from the satellites. The receiver 2 may be a GNSS (Global Navigation Satellite System) receiver.
[0010] The arithmetic processing device 3 is a computer (such as an in-vehicle computer) or an electronic control unit (ECU) including at least one processor and at least one memory. The memory stores various programs and various kinds of data. The processor reads out a program stored in the memory and executes the program so as to perform various arithmetic computations. The arithmetic processing device 3 is communicably connected to the receiver 2 and obtains positional information from the receiver 2. The arithmetic processing device 3 is configured to be capable of reading in map data stored in its own memory or other memory. The arithmetic processing device 3 is communicable with a control system 9 via the wireless communication machine 4 and a communication network. In a case where the mobility is a vehicle, communication in the mobility is performed through a CAN (car area network or controllable area network).
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[0011] The control system 9 is constituted by a computer functioning as a server. The control system 9 obtains and stores position information of each of a plurality of mobilities. The control system 9 is disposed in a facility outside the mobilities, for instance. The control system 9 and the plurality of mobilities are communicable with each other via the communication network (such as a network constituted by local radio base stations). Each mobility transmits, to the control system 9, its own absolute position based on the position measured by the GPS (hereinafter referred to as "GPS data" where appropriate). Accordingly, in a situation in which a reception status of the signals from the satellites is good in each mobility, the control system 9 obtains the GPS data of all of the registered mobilities.
[0012] The control system 9 calculates a target route of each mobility based on the GPS data and destination information of each mobility and transmits information on the target route to each mobility. In a case where the arithmetic processing device 3 functions as an automated driving controller, the arithmetic processing device 3 controls behaviors of the own mobility (such as the drive force, the braking force, and the steering angle) during automated driving based on the information on the target route transmitted from the control system 9.
[00131 The surroundings monitoring device (corresponding to "surroundings monitoring portion") 5 is configured to monitor surroundings of the own mobility. The surroundings monitoring device 5 includes, for instance, a lidar (Light Detection and Ranging or Laser Imaging Detection and Ranging). The surroundings monitoring device 5 of the present embodiment includes, for instance, one or more lidars, one or more cameras for taking images of the surroundings of the own mobility, and one or more radar for measuring a distance between the own mobility and an object present in the surroundings of the own mobility. The surroundings monitoring device may be referred to as a device for measuring a distance between the own mobility and an object present in the surroundings of the own mobility to calculate a positional relationship between the own mobility and the object present in the surroundings (such as an obstacle or other mobility). For instance, it is possible to more accurately calculate the own position based on a detection result of the surroundings monitoring device 5 and three-dimensional map data. The arithmetic processing device 3 is capable of distinguishing (or identifying or recognizing) the object based on a predetermined distinguishing condition and the detection result of the surroundings monitoring device 5 (such as recognition data of the shape of the object).
[0014] The arithmetic processing device 3 includes, each as a functional portion, a transmitter portion 31, and an information obtaining portion 32, a relative
41509542_1 position calculating portion 33, and a correcting portion 34. The transmitter portion 31 transmits the absolute position information (GPS data) of the own mobility to the control system 9 via the wireless communication machine 4 and the communication network. The wireless communication machine 4 is a communication device that enables communication between the control system 9 and the own mobility. The information on the absolute position transmitted by the transmitter portion 31 is the information on the absolute position calculated by the receiver 2 in a case where the signal reception status is not deteriorated, namely, in a case where the signal reception level is not less than a threshold.
[0015] The information obtaining portion 32 obtains, via the communication network, absolute position information of one or more surrounding mobilities, each of which is a specific mobility located around the own mobility. In the present embodiment, a dump truck (large-sized heavy equipment) is set as the specific mobility, namely, as the surrounding mobility. That is, the information obtained by the information obtaining portion 32 of the present embodiment is absolute position information (GPS data) of a dump truck located around the own mobility.
[00161 The information obtaining portion 32 may obtain the absolute position information of one or more surrounding mobilities constantly (e.g., at predetermined intervals). Alternatively, the information obtaining portion 32 may obtain the absolute position information of one or more surrounding mobilities at suitable predetermined timing. The predetermined timing may be timing at which the signal reception status of the receiver 2 is deteriorated, for instance. In a case where the signal reception status of the receiver 2 is deteriorated, the information obtaining portion 32 may transmit an information request signal to the control system 9, for instance. The control system 9 transmits the absolute position information of one or more surrounding mobilities to the own position calculating device 1 constantly or in response to reception of the information request signal, for instance. The control system 9 identifies one or more surrounding mobilitis based on the GPS data of the own mobility (i.e., the data in a state in which the reception status of the own mobility is normal or the data after the reception status of the own mobility is deteriorated).
[00171 When the signal reception status of the receiver 2 is deteriorated, the relative position calculating portion 33 calculates a position of the own mobility relative to the surrounding mobility (hereinafter referred to as "relative position of the own mobility to the surrounding mobility" where appropriate) based on the absolute position information of the surrounding mobility and the detection result of the surroundings monitoring device 5. Based on information on the position and the shape of the object
41509542_1 detected in the detection range (the monitorable range) by the surroundings monitoring device 5, the relative position calculating portion 33 identifies a mobility that corresponds to the absolute position information obtained from the control system 9. Based on a determination condition of the surrounding mobility (such as the shape of the dump truck), the relative position calculating portion 33 distinguishes objects detected by the surroundings monitoring device 5 and identifies the dump truck from among the detected objects.
[00181 The relative position calculating portion 33 identifies an object that is recognized as the dump truck based on the detection result of the surroundings monitoring device 5 and associates the identified object with the absolute position information obtained from the control system 9. The relative position calculating portion 33 subsequently calculates a positional relationship between the identified object (the dump truck) and the own mobility, namely, a relative position of the own mobility to the dump truck, based on the detection result of the surroundings monitoring device 5. Specifically, the relative position calculating portion 33 calculates a distance between the mobilities and a direction in which one of the mobilities is spaced apart from the other.
[0019] When a plurality of objects, each of which is recognized as the dump truck, is detected by the surroundings monitoring device 5, the relative position calculating portion 33 compares the GPS data of the own mobility (the data immediately before deterioration of the reception status or the data after deterioration of the reception status) and the information of each of the plurality of surrounding mobilities obtained by the information obtaining portion 32 and associates the detected objects and the obtained information of the respective surrounding mobilities.
[0020] As illustrated in Fig. 2, for instance, the relative position calculating portion 33 recognizes a dump truck located adjacent to the own mobility on the right side and a dump truck located relatively far from the own mobility on the front left side, based on the detection result of the surroundings monitoring device 5. Based on the distance between the own mobility and each dump truck and the direction (coordinate) in which the own mobility is spaced apart from each dump truck, the relative position calculating portion 33 associates the GPS data of one of the dump trucks obtained by the information obtaining portion 32 to one of the recognized objects (the dump truck) and associates the GPS data of the other of the dump trucks to the other of the recognized objects (the dump truck). The relative position calculating portion 33 needs to associate at least one of the recognized objects (the dump truck) and the obtained GPS data. Thus, the relative position calculating portion 33 identifies an
41509542_1 object corresponding to the surrounding mobility from among the objects detected by the surroundings monitoring device 5, based on the absolute position information of the surrounding mobility and the detection result of the surroundings monitoring device 5.
[0021] Based on the detection result of the surroundings monitoring device , the relative position calculating portion 33 calculates: a distance between the own mobility and the object recognized as the surrounding mobility; and a direction from the own mobility toward the object recognized as the surrounding mobility (that may be a direction from the object recognized as the surrounding mobility toward the own mobility). Thus, the relative position calculating portion 33 calculates the relative position of the own mobility to the object recognized as the surrounding mobility (such as the spacing distance and the spacing direction) based on the detection result of the surroundings monitoring device 5.
[0022] The correcting portion 34 corrects the absolute position information of the own mobility calculated by the receiver 2, based on the absolute position information of the surrounding mobility and the information on the relative position calculated by the relative position calculating portion 33. The correcting portion 34 calculates the absolute position of the own mobility based on the GPS data of the surrounding mobility as a reference and the relative position of the own mobility to the surrounding mobility. In a case where the absolute position calculated by the correcting portion 34 and the calculation result of the receiver 2 differ from each other, the correcting portion 34 recognizes its own calculation result as the absolute position of the own mobility and corrects the calculation result of the receiver 2. The own position calculating device 1 recognizes the corrected absolute position as the absolute position of the own mobility. The transmitter portion 31 transmits the corrected absolute position information to the control system 9. The data transmitted by the transmitter portion 31 may contain, in addition to the absolute position information, the fact that the absolute position of the own mobility has been corrected and the fact that the reception level is less than the threshold.
[00231 Referring next to Fig. 3, there will be described a flow of a process of calculating the own position in the present embodiment. In the following description, the kind of the mobility registered in the control system 9 is a dump truck and a pickup truck. Further, the own mobility is the pickup truck while the surrounding mobility is the dump truck.
[0024] The own position calculating device 1 determines whether the signal reception level of the receiver 2 is less than the threshold (Si). The situation in which the signal reception level is less than the threshold is, for instance, a situation in which
41509542_1 the own mobility is traveling near other mobility that is larger in size than the own mobility (such as when the two mobilities are traveling alongside) or a situation in which the own mobility is traveling near an earthen wall in a mine. Such a situation may be referred to as a situation in which the own mobility is in the shadow of other mobility or the earthen wall. In a case where the pickup truck is in the shadow of the dump truck with tires whose diameter is greater than 2 m, namely, in a case where the pickup truck is hidden behind the dump truck when viewed in a certain direction, the reception level of the GPS signals of the pickup truck tends to be lowered. In contrast, a large-sized mobility such as the dump truck is less likely to be hidden in the shadow of other mobility, and the signal reception level in such a large-sized mobility is less likely to be lowered. For this reason, the large-sized mobility is suitable as a reference used in calculating the relative position.
[0025] When the reception level is less than the threshold (SI: Yes), the own position calculating device 1 recognizes the dump truck located around the own mobility based on the detection result of the surroundings monitoring device 5 (S2) and calculates the relative position of the own mobility to the dump truck (S3). The own position calculating device 1 obtains, from the control system 9, the GPS data of the dump truck located around the own mobility and associates the recognized dump truck to the GPS data (S4). The own position calculating device 1 calculates the absolute position of the own mobility based on the GPS data of the surrounding mobility and the calculated relative position (S5). The own position calculating device 1 corrects the GPS data calculated by the receiver 2 based on the calculated absolute position information (S6). In the situation in which the reception level is less than the threshold, the relative position is updated (calculated) at predetermined time intervals, and the GPS data of the surrounding mobility is updated (calculated) at predetermined time intervals. The absolute position information of the own mobility is also updated (calculated) at predetermined time intervals in accordance with the updated relative position and the updated GPS data.
[00261 Advantageous Effects In the own position calculating device according to the present embodiment, when the reception status of the signals from the satellites is deteriorated, the absolute position information of the own mobility is corrected based on the absolute position information of the surrounding mobility and the relative position of the own mobility to the surrounding mobility. With this configuration, even when the signal reception status of the own mobility is deteriorated due to the influence of other
41509542_1 mobility, which is larger in size than the own mobility and which is traveling in the surroundings of the own mobility, the absolute position information of the own mobility is corrected based on the relative position of the own mobility to the large-sized mobility. Thus, the accuracy of the own position calculation is prevented from being lowered.
[00271 The absolute position information of each mobility is collected by the control system 9 and transmitted therefrom to the own position calculating device 1 of each mobility in response to the request or the like from the mobility. With this configuration, the control system 9 can obtain the information of the one or more surrounding mobilities smoothly and unifiedly.
[00281 Modifications The present disclosure is not limited to the embodiment illustrated above. For instance, the control system 9 may be configured to transmit, to the own position calculating device 1, the absolute position information of only the surrounding mobility in which the signal reception status is good, e.g., in which the signal reception level is not less than the threshold. That is, the control system 9 may select, as the surrounding mobility, the mobility in which the signal reception status is not deteriorated. Alternatively, the own position calculating device 1 may be configured to utilize, in the relative position calculation, the absolute position information of only the surrounding mobility in which the signal reception level is good among the absolute position information of the surrounding mobilities obtained from the control system 9. In this instance, the own position calculating device 1 obtains, from the control system 9, the absolute position information of the surrounding mobility and information on the reception status (the reception level) of the GPS signals, for instance. That is, each mobility transmits, to the control system 9, the absolute position information (the GPS data) and the information on the reception level, i.e., characteristic information. With this configuration, the own position calculating device 1 can utilize the GPS data with high accuracy as the absolute position information that is a reference in the relative position calculation. In other words, the accuracy of calculating the own position can be enhanced.
[0029] There may be set, as the specific mobility (the surrounding mobility), a plurality of types of mobilities or a plurality of kinds of mobilities. In this instance, the information obtaining portion 32 obtains, from the control system 9, the characteristic information and the GPS data of the one or more surrounding mobilities, for instance. The characteristic information contains information on the type or the
41509542_1 kind of the surrounding mobility. Owing to the characteristic information, the own position calculating device 1 can grasp what kind of or what type of the mobility the surrounding mobility is. For instance, the own position calculating device 1 can grasp that the surrounding mobility is the dump truck, the pickup truck, or a medium-sized truck. In a case where the own position calculating device 1 recognizes that the dump truck is present around the own mobility, the own position calculating device 1 may obtain, from the control system 9, the GPS data of the surrounding mobility whose characteristic information indicates the dump truck.
[00301 In a case where the reception level is less than the threshold and the surrounding mobility is detected by the surroundings monitoring device 5 within a predetermined distance from the own mobility, the own position calculating device 1 may determine that the own mobility enters the shadow of the surrounding mobility and may calculate the own position based on the relative position of the own mobility to the surrounding mobility. With this configuration, the own position is corrected with high reliability in a situation in which the receiver 2 is influenced by the surrounding mobility.
[00311 As the specific mobility, namely, as the surrounding mobility, it is preferable to set a mobility that is larger in size than the own mobility. The large-sized mobility is less likely to be influenced by other mobility in terms of reception of the GPS signals. It is thus estimated that the accuracy of the GPS data of the large-sized mobility is high. The information obtaining portion 32 may obtain, in addition to the absolute position information of the surrounding mobility, information on the size of the surrounding mobility. In a case where a plurality of surrounding mobilities, each of which is the surrounding mobility, is located around the own mobility, the relative position calculating portion 33 may calculate the relative position of the own mobility to one of the plurality of surrounding mobilities having the largest size among the plurality of surrounding mobilities. The priority according to which the relative position is calculated may be set depending on the size.
[0032] The information obtaining portion 32 may obtain the absolute position information of each surrounding mobility directly therefrom, instead of from the control system 9. For instance, the information obtaining portion 32 can obtain the absolute position information (GPS data) from the surrounding mobility through wireless communication (communication network) between the own mobility and the surrounding mobility. This configuration also enables the absolute position of the own mobility to be calculated based on the relative position. In this configuration, the control system 9 and the transmitter portion 31 can be omitted. The control system 9
41509542_1 may be disposed in the mobility. The deterioration of the signal reception level may be determined (estimated) not based on the degree of the reception level but based on the traveling position of the own mobility. For instance, it may be determined or estimated that the reception level is deteriorated when the mobility is traveling along a wall.
[00331 Unless the context clearly requires otherwise, throughout the description and claims, the words "comprise", "comprising", and the like are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense; that is to say, in the sense of "including, but not limited to".
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Claims (10)
1. An own position calculating device, comprising: a position calculating portion configured to calculate an absolute position of an own mobility based on signals received from satellites; a surroundings monitoring portion configured to monitor surroundings of the own mobility; an information obtaining portion configured to obtain absolute position information of a surrounding mobility that is a specific mobility located around the own mobility; a relative position calculating portion configured to calculate a relative position of the own mobility to the surrounding mobility when a reception status of the signals is deteriorated, based on the absolute position information of the surrounding mobility and a detection result of the surroundings monitoring portion; and a correcting portion configured to correct absolute position information of the own mobility, which is information on the absolute position of the own mobility calculated by the position calculating portion, based on the absolute position information of the surrounding mobility and information on the relative position calculated by the relative position calculating portion, when the reception status of the signals is deteriorated and configured not to correct the absolute position information of the own mobility, which is information on the absolute position of the own mobility calculated by the position calculating portion, when the reception status of the signals is not deteriorated.
2. The own position calculating device according to claim 1, which is configured to determine that the reception status of the signals is deteriorated when a reception level of the signals is less than a predetermined threshold and the surround mobility, which is larger in size than the own mobility, is detected by the surroundings monitoring device within a predetermined distance from the own mobility.
3. The own position calculating device according to claim 1 or claim 2, further comprising a transmitter portion configured to transmit the absolute position information of the own mobility to a control system that obtains absolute position information of each of a plurality of mobilities, wherein the information obtaining portion is configured to obtain the absolute position information of the surrounding mobility from the control system.
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4. The own position calculating device according to any one of claims 1-3, wherein the relative position calculating portion calculates the relative position when a reception level of the signals is less than a predetermined threshold.
5. The own position calculating device according to any one of claims 1-4, wherein the relative position calculating portion is configured to identify an object corresponding to the surrounding mobility from among objects detected by the surroundings monitoring portion, based on the absolute position information of the surrounding mobility and the detection result of the surroundings monitoring portion.
6. The own position calculating device according to any one of claims 1-5, wherein the information obtaining portion is configured to obtain information on a type or a kind of the surrounding mobility, and wherein the relative position calculating portion is configured to identify an object corresponding to the surrounding mobility from among objects detected by the surroundings monitoring portion, based on characteristic information of the surrounding mobility and the absolute position information of the surrounding mobility.
7. The own position calculating device according to any one of claims 1-6, wherein the information obtaining portion is configured to obtain information on the reception status of the signals in the surrounding mobility, and wherein, when a plurality of surrounding mobilities, each of which is the surrounding mobility, is located around the own mobility, the relative position calculating portion calculates the relative position of the own mobility to one of the plurality of surrounding mobilities in which the reception status of the signals is not deteriorated.
8. The own position calculating device according to any one of clams 1-7, wherein the information obtaining portion is configured to obtain information on a size of the surrounding mobility, and wherein, when a plurality of surrounding mobilities, each of which is the surrounding mobility, is located around the own mobility, the relative position calculating portion calculates the relative position of the own mobility to one of the plurality of surrounding mobilities that has the largest size among the plurality of surrounding mobilities.
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9. The own position calculating device according to claim 3, wherein the control system is configured to select, as the surrounding mobility, a mobility in which the reception status of the signals is not deteriorated.
10. The own position calculating device according to any one of claims 1-9, wherein the specific mobility is a mobility that is larger in size than the own mobility.
Toyota Jidosha Kabushiki Kaisha, Komatsu Ltd. Patent Attorneys for the Applicants SPRUSON&FERGUSON
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2022-034336 | 2022-03-07 | ||
| JP2022034336A JP2023129957A (en) | 2022-03-07 | 2022-03-07 | Self position arithmetic device |
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| AU2023201201A1 AU2023201201A1 (en) | 2023-09-21 |
| AU2023201201B2 true AU2023201201B2 (en) | 2024-02-29 |
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| AU2023201201A Active AU2023201201B2 (en) | 2022-03-07 | 2023-02-28 | Own position calculating device |
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| JP (1) | JP2023129957A (en) |
| AU (1) | AU2023201201B2 (en) |
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| JP2023129957A (en) | 2023-09-20 |
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