JP7074087B2 - 走行経路予測装置 - Google Patents
走行経路予測装置 Download PDFInfo
- Publication number
- JP7074087B2 JP7074087B2 JP2019011447A JP2019011447A JP7074087B2 JP 7074087 B2 JP7074087 B2 JP 7074087B2 JP 2019011447 A JP2019011447 A JP 2019011447A JP 2019011447 A JP2019011447 A JP 2019011447A JP 7074087 B2 JP7074087 B2 JP 7074087B2
- Authority
- JP
- Japan
- Prior art keywords
- travel
- vehicle
- locus
- positioning accuracy
- travel route
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0097—Predicting future conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/393—Trajectory determination or predictive tracking, e.g. Kalman filtering
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0072—Transmission between mobile stations, e.g. anti-collision systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
- B60W50/045—Monitoring control system parameters
- B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
Description
<1.構成>
まず、本実施形態に係る走行経路予測装置20の構成について、図1を参照して説明する。走行経路予測装置20は、CPU、ROM、RAM、半導体メモリ及びI/O等を備えたマイクロコンピュータを主体とした車載器である。
GPS受信機11は、GPS衛星からGPS信号を受信し、受信したGPS信号を走行経路予測装置20へ出力する。GPS信号には、自車両60が存在する位置の緯度、経度及び高度を含む位置情報と、位置の測位精度を示す測位精度情報とが含まれる。
次に、走行経路予測装置20が実行する走行経路予測処理の手順について、図2のフローチャートを参照して説明する。
S70では、警報出力部25が、警報装置30及び表示装置40へ警報出力指令を出力する。以上で、本処理を終了する。
まず、S100では、経路予測部23は、走行経路の候補地点を抽出する。具体的には、複数の周辺車両の走行軌跡の中から基準とする基準軌跡を抽出し、基準軌跡に含まれる各位置情報が示す地点を候補地点とする。経路予測部23は、基準軌跡として、警報対象の周辺車両の走行軌跡の中から、所定の条件を満たす走行軌跡を抽出する。所定の条件は、自車両60と最も距離が近い位置に存在する周辺車両の走行軌跡、自車両60の走行方向と同じ方向又は対向する方向に走行する周辺車両の走行軌跡、走行中の周辺車両の走行軌跡、などである。
S130では、走行経路を確定する。具体的には、複数の候補地点を繋ぐ走行経路を確定する。図4に示す例では、地点A4と地点B2と地点B1とを繋ぐ走行経路を確定する。以上で本処理を終了する。
以上説明した本実施形態によれば、以下の効果が得られる。
(1)複数の周辺車両の走行軌跡と各走行軌跡に含まれる位置情報の測位精度とを用いるため、今後自車両60が走行するだろう走行経路を精度良く算出することができる。
(他の実施形態)
以上、本開示を実施するための形態について説明したが、本開示は上述の実施形態に限定されることなく、種々変形して実施することができる。
Claims (4)
- 車車間通信によって、複数の周辺車両の走行軌跡と各走行軌跡の測位精度と、を受信するように構成された受信部(13)と、
前記受信部によって受信された前記走行軌跡と前記測位精度とを用いて、今後自車両(60)が走行する走行経路を予測するように構成された予測部(23)と、を備え、
前記予測部は、前記受信部によって受信された前記走行軌跡のうち所定範囲内に存在する前記走行軌跡の中で最も前記測位精度が高い前記走行軌跡を選択し、選択した前記走行軌跡に基づいて、前記走行経路を予測する、
走行経路予測装置 - 前記予測部は、前記受信部によって受信された前記走行軌跡の中から基準とする基準軌跡を抽出し、抽出した前記基準軌跡を含む所定範囲内に存在する前記走行軌跡の中で最も前記測位精度が高い前記走行軌跡を選択し、選択した前記走行軌跡に基づいて、前記走行経路を予測する、
請求項1に記載の走行経路予測装置。 - 車車間通信によって、複数の周辺車両の走行軌跡と各走行軌跡の測位精度と、を受信するように構成された受信部(13)と、
前記受信部によって受信された前記走行軌跡と前記測位精度とを用いて、今後自車両(60)が走行する走行経路を予測するように構成された予測部(23)と、を備え、
前記予測部は、前記受信部によって受信された前記走行軌跡の中から基準とする基準軌跡を抽出し、抽出した前記基準軌跡を含む所定範囲内に存在する前記走行軌跡の中で最も前記測位精度が高い前記走行軌跡を選択し、選択した前記走行軌跡に基づいて、前記走行経路を予測する、
走行経路予測装置 - 前記走行軌跡は、高度情報を含み、
前記予測部は、前記走行軌跡の高度情報を用いて、前記走行経路を予測する、
請求項1~3のいずれか1項に記載の走行経路予測装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019011447A JP7074087B2 (ja) | 2019-01-25 | 2019-01-25 | 走行経路予測装置 |
PCT/JP2020/002561 WO2020153487A1 (ja) | 2019-01-25 | 2020-01-24 | 走行経路予測装置 |
CN202080006110.2A CN112997228B (zh) | 2019-01-25 | 2020-01-24 | 行驶路径预测装置 |
US17/229,480 US11970174B2 (en) | 2019-01-25 | 2021-04-13 | Travel route prediction device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2019011447A JP7074087B2 (ja) | 2019-01-25 | 2019-01-25 | 走行経路予測装置 |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2020119386A JP2020119386A (ja) | 2020-08-06 |
JP2020119386A5 JP2020119386A5 (ja) | 2021-02-04 |
JP7074087B2 true JP7074087B2 (ja) | 2022-05-24 |
Family
ID=71736963
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019011447A Active JP7074087B2 (ja) | 2019-01-25 | 2019-01-25 | 走行経路予測装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US11970174B2 (ja) |
JP (1) | JP7074087B2 (ja) |
CN (1) | CN112997228B (ja) |
WO (1) | WO2020153487A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000275051A (ja) | 1999-03-26 | 2000-10-06 | Xanavi Informatics Corp | 車載用ナビゲーション装置 |
JP2007179373A (ja) | 2005-12-28 | 2007-07-12 | Nissan Motor Co Ltd | ナビゲーション情報システムおよびそのための車両端末 |
JP2008170278A (ja) | 2007-01-11 | 2008-07-24 | Hitachi Ltd | 位置検知方法 |
JP2010170239A (ja) | 2009-01-21 | 2010-08-05 | Mitsubishi Motors Corp | 車両位置情報交換による衝突事故防止システム |
JP2012063313A (ja) | 2010-09-17 | 2012-03-29 | Denso Corp | 車両用軌跡推定装置 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6680694B1 (en) * | 1997-08-19 | 2004-01-20 | Siemens Vdo Automotive Corporation | Vehicle information system |
JP3875697B2 (ja) | 2004-05-06 | 2007-01-31 | 松下電器産業株式会社 | 車載情報処理装置 |
US8073617B2 (en) * | 2006-12-27 | 2011-12-06 | Aisin Aw Co., Ltd. | Map information generating systems, methods, and programs |
JP2011145159A (ja) * | 2010-01-14 | 2011-07-28 | Denso Corp | 道路学習装置 |
JP5126263B2 (ja) * | 2010-03-23 | 2013-01-23 | 株式会社デンソー | 車両用ナビゲーション装置 |
JP5609778B2 (ja) * | 2011-06-09 | 2014-10-22 | トヨタ自動車株式会社 | 他車両認識装置及び進路評価装置 |
JP2013089135A (ja) * | 2011-10-20 | 2013-05-13 | Daimler Ag | 車両の道路形状予測装置及びこれを備えた車両の走行制御装置 |
JP6260114B2 (ja) | 2013-05-31 | 2018-01-17 | 株式会社デンソー | 走行路情報生成装置 |
JP6065889B2 (ja) * | 2014-09-18 | 2017-01-25 | 株式会社デンソー | 運転支援装置 |
JP6302848B2 (ja) * | 2015-01-19 | 2018-03-28 | 株式会社日立製作所 | 地図生成システム及び地図生成方法 |
JP6464978B2 (ja) * | 2015-10-02 | 2019-02-06 | 株式会社デンソー | 位置推定装置 |
WO2017179151A1 (ja) * | 2016-04-13 | 2017-10-19 | 本田技研工業株式会社 | 車両制御システム、車両制御方法、および車両制御プログラム |
JP6368742B2 (ja) | 2016-06-13 | 2018-08-01 | 本田技研工業株式会社 | 車両用走行支援装置および走行支援方法 |
-
2019
- 2019-01-25 JP JP2019011447A patent/JP7074087B2/ja active Active
-
2020
- 2020-01-24 CN CN202080006110.2A patent/CN112997228B/zh active Active
- 2020-01-24 WO PCT/JP2020/002561 patent/WO2020153487A1/ja active Application Filing
-
2021
- 2021-04-13 US US17/229,480 patent/US11970174B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000275051A (ja) | 1999-03-26 | 2000-10-06 | Xanavi Informatics Corp | 車載用ナビゲーション装置 |
JP2007179373A (ja) | 2005-12-28 | 2007-07-12 | Nissan Motor Co Ltd | ナビゲーション情報システムおよびそのための車両端末 |
JP2008170278A (ja) | 2007-01-11 | 2008-07-24 | Hitachi Ltd | 位置検知方法 |
JP2010170239A (ja) | 2009-01-21 | 2010-08-05 | Mitsubishi Motors Corp | 車両位置情報交換による衝突事故防止システム |
JP2012063313A (ja) | 2010-09-17 | 2012-03-29 | Denso Corp | 車両用軌跡推定装置 |
Also Published As
Publication number | Publication date |
---|---|
US20210229682A1 (en) | 2021-07-29 |
CN112997228B (zh) | 2023-01-20 |
WO2020153487A1 (ja) | 2020-07-30 |
JP2020119386A (ja) | 2020-08-06 |
CN112997228A (zh) | 2021-06-18 |
US11970174B2 (en) | 2024-04-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107077794B (zh) | 车载用控制装置、本车位置姿势确定装置、车载用显示装置 | |
US8041469B2 (en) | Determining relative spatial information between vehicles | |
JP6468171B2 (ja) | 運転支援装置 | |
JP5327327B2 (ja) | 車両用情報処理装置 | |
US9830822B2 (en) | Driving assistance apparatus | |
JP6451857B2 (ja) | 走行制御装置の制御方法および走行制御装置 | |
US9824584B2 (en) | Driving support apparatus for vehicle | |
JP2017126219A (ja) | 運転支援装置 | |
JP2009031837A (ja) | 交差点通過支援装置および交差点通過支援方法 | |
EP3136365B1 (en) | Communication device, communication system and associated communication method | |
JP6616275B2 (ja) | 運転支援装置 | |
JP2002350157A (ja) | 位置補正装置 | |
US11158193B2 (en) | Position estimation apparatus, position estimation method, and computer readable medium | |
JP2012168113A (ja) | 情報処理装置および情報処理方法 | |
JP6003786B2 (ja) | 車両位置推定システム、車両位置推定装置 | |
JP7074087B2 (ja) | 走行経路予測装置 | |
JP6555132B2 (ja) | 移動物体検出装置 | |
JP2018112461A (ja) | 確率算出装置及び確率算出方法 | |
JP6333437B1 (ja) | 物体認識処理装置、物体認識処理方法および車両制御システム | |
WO2020045667A1 (ja) | 制御装置および車両 | |
JP2015075967A (ja) | 運転支援装置、車両、及び制御プログラム | |
JP2015075957A (ja) | 運転支援装置、車両、及び制御プログラム | |
JP6956758B2 (ja) | 運転支援システムおよび車載情報処理装置 | |
JP2012234244A (ja) | 端末位置判定装置 | |
WO2019220590A1 (ja) | 運転支援装置、運転支援方法、運転支援プログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20201215 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20201217 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220222 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220331 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220412 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220425 |
|
R151 | Written notification of patent or utility model registration |
Ref document number: 7074087 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |