WO2020095567A1 - Véhicule à selle - Google Patents

Véhicule à selle Download PDF

Info

Publication number
WO2020095567A1
WO2020095567A1 PCT/JP2019/038139 JP2019038139W WO2020095567A1 WO 2020095567 A1 WO2020095567 A1 WO 2020095567A1 JP 2019038139 W JP2019038139 W JP 2019038139W WO 2020095567 A1 WO2020095567 A1 WO 2020095567A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
signal
reception intensity
straddle
type vehicle
Prior art date
Application number
PCT/JP2019/038139
Other languages
English (en)
Japanese (ja)
Inventor
由幸 黒羽
一幸 丸山
太 古賀
拡 前田
Original Assignee
本田技研工業株式会社
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Publication of WO2020095567A1 publication Critical patent/WO2020095567A1/fr

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
    • B62J99/00—Subject matter not provided for in other groups of this subclass
    • 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
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a straddle-type vehicle that contributes to smooth traffic by detecting the position of another vehicle in the vicinity, for example.
  • ITS Intelligent Transport System
  • a vehicle periodically transmits a standardized signal, and the vehicle or facility that receives the standardized signal can use the information included in the received signal. Therefore, by including the vehicle position information in the signal, the position of the vehicle that is the sender can be specified.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • dead reckoning specifies a position using a gyro sensor, an acceleration sensor, or the like when positioning cannot be performed by GPS.
  • GPS positioning has difficulty in accuracy, and even if the GPS positioning result is received from another vehicle, the position is not always accurate. Therefore, when the position has an important meaning, for example, for warning of the presence of a vehicle in the blind position, it is necessary to further improve the positioning accuracy.
  • the present invention has been made in view of the above conventional example, and provides a straddle-type vehicle that can specify the position of another vehicle with higher accuracy, thereby improving safety and contributing to smooth traffic.
  • the purpose is to do.
  • the present invention has the following configurations. That is, according to one aspect of the present invention, a seating portion on which the driver sits, A first communication unit that is provided in front of the seating portion and that communicates with an external vehicle that outputs a signal of a predetermined strength, A straddle-type vehicle that is provided behind the seat portion and includes a second communication unit that communicates with the external vehicle, From the first reception intensity, which is the intensity of the signal that the first communication unit receives from the external vehicle, and the second reception intensity, which is the intensity of the signal that the second communication unit receives from the external vehicle, the external vehicle And a control means for estimating the position of the vehicle.
  • a straddle-type vehicle can be provided which can specify the position of another vehicle with higher accuracy, thereby improving safety and contributing to smooth traffic.
  • FIG. 1 is a diagram showing an appearance of a two-wheeled vehicle according to an embodiment.
  • FIG. 2 is a diagram showing the configuration of the ITS control unit of the motorcycle of the embodiment.
  • FIG. 3A is a diagram showing an example of the reception intensity of the ITS signal by the motorcycle of the embodiment.
  • FIG. 3B is a diagram showing an example of the attenuation rate of the ITS signal by the motorcycle of the embodiment.
  • FIG. 4A is a diagram showing an example of reception intensity by each antenna of the motorcycle of the embodiment.
  • FIG. 4B is a diagram showing an example of the reception intensity by each antenna of the motorcycle of the embodiment.
  • FIG. 5A is a diagram showing an example of reception intensity by each antenna of the motorcycle of the embodiment.
  • FIG. 5B is a diagram showing an example of reception intensity by each antenna of the motorcycle of the embodiment.
  • FIG. 6 is a flowchart of a processing procedure for identifying the vehicle position of the signal source from the reception intensity of the antenna according to the first embodiment.
  • FIG. 7 is a flowchart of a processing procedure for identifying the vehicle position of the signal source from the reception intensity of the antenna according to the second embodiment.
  • FIG. 1 shows an example of the external appearance of a powered two-wheeled vehicle that is a saddle-type vehicle according to the present embodiment.
  • the invention according to the present embodiment can be applied to a straddle-type vehicle in which the driver's body can have a positional relationship such that the driver's body serves as a shield for antennas arranged in front of and behind the vehicle. Therefore, it is not limited to two wheels and may be three wheels or four wheels, and the power source is not particularly limited.
  • Fig. 1 shows a state in which passengers are on board.
  • a driver 2 rides on a two-wheeled vehicle so as to straddle a seated portion, and an external facility or vehicle (herein referred to as an external vehicle) is attached to each of a front portion and a rear portion of the vehicle so as to sandwich the driver.
  • Antennas 11 and 12 are arranged as a first communication unit and a second communication unit for receiving the transmitted ITS signal.
  • the antennas 11 and 12 can be used not only for signal reception but also for signal transmission.
  • the names of the first communication unit and the second communication unit may be used as names including not only antennas but also circuits for modulation and signal processing.
  • the ITS signal here refers to a signal standardized (standardized) by the intelligent transportation system (ITS), and is transmitted and received by a vehicle or facility equipped with the ITS system.
  • the ITS signal includes information according to the standard and information extended according to the standard.
  • vehicle information including the type of the transmission source (or transmission source) vehicle and position information indicating the position of the transmission source vehicle or facility.
  • this position information may include an error of about a dozen meters from the implementation position.
  • the transmission power of the ITS signal is substantially constant regardless of the vehicle, and that the frequency band is 5 GHz, which is relatively unaffected by precipitation such as rain and snow.
  • Fig. 2 shows a block diagram of the ITS system installed in the motorcycle 1.
  • the ITS system includes a control unit 21 for controlling the ITS system, antennas 11 and 12 for transmitting and receiving signals, various switches, a display unit 216 such as an LED as an interface with a driver, a voice output unit 217 such as a speaker, and the entire earth. It includes a GNSS antenna 213 that receives signals from satellites for the Global Navigation Satellite System (GNSS), such as the Positioning System (GPS).
  • GNSS Global Navigation Satellite System
  • GPS Positioning System
  • the control unit 21 is further connected to a power source via a power relay, and is also connected to an in-vehicle network (CAN, full (F-) CAN in FIG. 2) 22.
  • CAN in-vehicle network
  • the control unit 21 is connected to the GNSS antenna 213 to perform demodulation of received signals and the like, the GNSS control unit 212 connected to the antennas 11 and 12 to perform modulation and demodulation of signals in the 5 GHz band, and the like. It includes a human-machine interface (HMI) 215 connected to the unit 216 and the voice output unit 217. Further, it includes a CPU 211 for controlling them, and the CPU 211 has a memory for storing programs and data.
  • HMI human-machine interface
  • a C-ITS application 2111 which is a program for performing transmission / reception of signals according to ITS and control based on received signals, the reception intensity of ITS signals by the antennas 11 and 12, and the position of the signal source of the transmission source ( For example, a position table (position TBL) 2112 in which a distance and a relative direction with respect to the vehicle are associated with each other is stored.
  • a position table (position TBL) 2112 in which a distance and a relative direction with respect to the vehicle are associated with each other is stored.
  • the C-ITS shown in FIG. 2 is a collaborative ITS and can also be called an advanced version of ITS.
  • an ITS signal transmitted from an external vehicle is received, and the position of the transmission source external vehicle is specified based on the signal. Then, the identified position can be shown to the driver by the display unit 216, for example.
  • the locus of the vehicle can be specified by plotting the position of the vehicle, the possibility of collision with the two-wheeled vehicle 1 can be determined, and the driver can be warned.
  • the transmitted ITS signal is attenuated according to its propagation distance.
  • the distance of the external vehicle that is the transmission source is estimated based on the signal strengths received by the antennas 11 and 12 of the motorcycle 1.
  • the principle is shown in FIG. 3A.
  • the circle 31 indicates the distance to the transmission source estimated from the intensity of the signal received by the antenna 11.
  • the circle 32 indicates the distance to the transmission source estimated from the strength of the signal received by the antenna 12.
  • the intersections 331 and 332 of these two circles 31 and 32 are the estimated signal source positions. Although it is difficult to specify the direction from only the signal power, it may be estimated as the position of the intersection outside vehicle closer to the position information included in the received ITS signal, for example. However, the above is the case where the damping by the driver 2 is not taken into consideration.
  • the signal is further attenuated by the driver's body.
  • the line-of-sight range if the signal is emitted from before the line of sight 35 (referred to as the line-of-sight range), there is almost no attenuation by the human body, but if it is behind it (called the non-line-of-sight range), there is no attenuation by the human body. is there.
  • the non-line-of-sight range there is no attenuation by the human body. is there.
  • the left half is shown in the figure, the right side is also in contrast.
  • the signal received by the antenna 11 from the signal source in the non-line-of-sight region is greatly attenuated, and the estimated distance based on the signal is large as compared with the case where there is no attenuation by the human body, as shown by the dotted line 36.
  • This is the same for the antenna 12, but the front and rear are reversed from the antenna 11. That is, the signal received by the antenna 12 from the signal source in the non-line-of-sight region ahead of the line-of-sight 34 has large attenuation, and the estimated distance based on the signal is as shown by the dotted line 37 when there is no attenuation by the human body. It will be larger than that.
  • FIG. 3B shows an example of the distribution of the damping rate when the frontal direction of the motorcycle 1 is set to 0 and the clockwise direction of 180 degrees is set to the rearward direction of the motorcycle 1.
  • a curve 301 shows the distribution of the attenuation rate by the driver 2 around the antenna 11. From the line-of-sight line 35, there is no attenuation by the human body in the line-of-sight region, and there is attenuation by the human body in the non-line-of-sight region.
  • a curve 302 is an example showing the distribution of the attenuation rate by the driver 2 centering on the antenna 12, and like the antenna 11, there is no attenuation by the human body in the line-of-sight region.
  • the difference in received signal power between the antenna 11 and the antenna 12 becomes larger due to the attenuation of the signal by the human body than in the case where there is no attenuation by the human body, and the signal source is utilized by utilizing the difference. That is, it is easy to determine whether it is located ahead of the antenna 11 (that is, in front of it) but ahead of the antenna 12 (that is, behind it).
  • the attenuation due to the human body is corrected, and the position of the signal source is estimated using the attenuation.
  • FIG. 4A shows an example in which the wheeled vehicle 1 on which the driver 2 is placed receives the ITS signal from the vehicle in front.
  • the field intensity received by each antenna is as shown in the graph on the right side of FIG. 4A.
  • the vertical axis represents the radio field intensity
  • the horizontal axis represents the distance from the signal transmission source.
  • the antenna 12 is farther from the signal source than the antenna 11, and the driver 2 is located between the signal source and the antenna 12.
  • the reception intensity of the antenna 12 is smaller than that of the antenna 11, and the degree of attenuation is much greater than the attenuation due to the distance alone (shown by the dotted line).
  • the difference from the attenuation due to only this distance is indicated by the symbol ⁇ .
  • FIG. 4B shows an example of a case where an ITS signal transmitted by an external vehicle is received from the rear of the motorcycle 1.
  • 4A is the same as that of FIG. 4A, but since the position of the transmission source is the front side on the rear side, the received radio wave intensity is strong on the antenna 12 side and on the antenna 11 side accompanied by human body attenuation as shown in the graph on the right side of FIG. 4B. Extremely weak beyond the extent of attenuation due to distance.
  • FIG. 4A shows that the position of the radio wave source is behind the vehicle 1, the degree to which the radio wave is blocked and attenuated by the driver's body is almost the same. That is, also in FIG. 4B, the amount of attenuation by the driver's body is ⁇ .
  • FIG. 5A shows an example of signal strength when an ITS signal from an external vehicle is received from the diagonally right front of the motorcycle 1. Also in this case, similarly to FIG. 4A, the signal strength of the antenna 12 becomes smaller than that of the antenna 11 beyond the degree of attenuation due to distance. However, as compared with the case where a signal is received from the front as shown in FIG. 4A, the degree of attenuation by the human body is small. In FIG. 5A, the attenuation due to the driver's body is diagonally ahead of the radio wave source, and the attenuation amount ⁇ is smaller than the attenuation amount ⁇ in FIGS. 4A and 4B. That is, ⁇ > ⁇ . FIG.
  • FIG. 5B also shows an example of signal strength when an ITS signal from an external vehicle is received from the diagonally right front of the two-wheeled vehicle 1.
  • the signal strength of the antenna 12 becomes smaller than that of the antenna 11 beyond the degree of attenuation due to distance.
  • the external vehicle is closer to the front of the motorcycle 1. Therefore, the degree of attenuation by the human body is larger than that in FIG. 5A, and the degree of attenuation is smaller than that in the case of FIG. 4A. That is, in FIG. 5B, the attenuation by the driver's body is an attenuation amount ⁇ that is smaller than the attenuation amount ⁇ in FIGS.
  • the antennas that receive attenuated radio waves are in the same reception state as in FIGS. 5A and 5B, although the antennas differ depending on the direction of the vehicle body.
  • the signal (radio waves) is attenuated by the driver according to the positional relationship between the radio wave source, the antenna, and the driver, and the difference in received power between the two antennas is only the difference that depends only on the distance. Instead, the difference will include attenuation depending on the direction of the radio wave source.
  • the position of the signal source that is, the external vehicle is specified based on the difference in the distance from each antenna to the signal source, using the two antennas and considering the attenuation by the driver.
  • the intensity of the radio wave received by each antenna is set as a set of radio field intensities, and the radio wave intensity of each set is prepared in advance in a memory by preparing a position table 2112 in which the position of the signal source is associated with the position of the signal source.
  • a set of radio field intensities that match the received radio field intensity is searched from the position table 2112, and the position associated therewith is specified as the position of the external vehicle.
  • the position table 2112 is created by the following method, for example.
  • the ITS signal is arranged, for example, at any one of grid points of a grid with a predetermined interval in the vertical and horizontal directions centering on the two-wheeled vehicle 1, and the ITS signal is transmitted at that position.
  • the motorcycle 1 measures the radio field intensity of each antenna at that time.
  • the set of the radio field intensities is registered in the position table 2112 in association with the position of the signal source which is known in advance.
  • the position table 2112 is completed by performing this measurement and registration by locating the signal source at each grid point within a certain range centering on the motorcycle.
  • the position may be represented by a distance from the two-wheeled vehicle 1 and a relative direction based on the orientation of the two-wheeled vehicle 1, for example.
  • the position table created in this way is considered to be bilaterally symmetric with respect to, for example, the traveling direction of the two-wheeled vehicle 1. Therefore, only one of the left and right sides may be provided.
  • the position table 2112 is assumed to be provided for the half area created in this way.
  • FIG. 6 shows details of the procedure for specifying the position of the external vehicle using the position table 2112.
  • FIG. 6 shows a procedure when the ITS system of the motorcycle 1 receives an ITS signal from an external vehicle. This procedure is realized by executing the C-ITS application by the CPU 211. The procedure of FIG. 6 is started when the ITS signal from the external vehicle is received.
  • the strength of the signal (radio wave) received by each of the antennas 11 and 12 is digitized, and the position table 2112 is searched by the set of the values (S601). If a match is registered, the position associated with that set of values is specified. If there is no set of matching values, for example, the antenna with the higher received signal strength is specified, and for the specified antenna, the position table 2112 having a signal strength within a predetermined difference from the strength of the received signal by the antenna. To identify the entry. With that entry as a candidate, the entry having the value closest to the received signal strength is determined for the antenna having the lower received signal strength. The position included in the determined entry is specified as the position of the signal source. Since the position of the grid point registered in advance is specified in this way, the position deviated from the grid point may be specified by supplementing the position according to the observed signal strength.
  • position information is acquired from the received ITS signal (S603).
  • the position specified in S601 indicates one of two positions that are symmetrical with respect to the line connecting the two antennas of the two-wheeled vehicle 1 (in this example, the straight traveling direction). Yes (S605).
  • the current position of the two-wheeled vehicle 1 is specified based on the GNSS signal received from the satellite, and the direction of the two-wheeled vehicle (that is, the direction of the line connecting the two antennas) is specified based on the direction information obtained from the electronic compass (not shown).
  • the position indicated by the position information of the ITS is on the left or right side of the motorcycle 1.
  • the position of the external vehicle is specified by converting the position specified in S601 depending on whether it is on the left or right (S605).
  • the direction of the external vehicle is converted, and the distance may not be converted.
  • the direction for example, the right side is represented by a positive sign and the left side is represented by a negative sign with reference to the front direction, and the position table 2112 includes entries for only the right side.
  • the position specified in S601 becomes the position of the external vehicle, and if determined to be the left side, the sign of the value indicating the direction is inverted. In this way, the position of the external vehicle can be specified.
  • actions such as showing the position of the specified external vehicle to the driver or outputting a warning are performed (S607).
  • the type of warning may be changed based on the information indicating the type of vehicle obtained from the ITS signal, or the type of warning may be changed according to the distance to the external vehicle.
  • the position of the external vehicle can be specified with high accuracy.
  • the characteristic of the attenuation of the radio signal by the driver peculiar to the two-wheeled vehicle increases the difference in the received signal strength between the plurality of antennas, so that it is possible to avoid position determination with many errors using a subtle strength difference.
  • the characteristics of attenuation of the radio signal by a person may differ depending on the physique, clothes, etc. of the driver. Therefore, the characteristics of the attenuation are estimated each time the driver or his / her clothes change, and the signal values of the positions of the entries of the position table 2112 belonging to the non-line-of-sight region are corrected accordingly.
  • the correction may be performed by rewriting the position table 2112, or a correction table may be prepared separately.
  • the characteristics are estimated as follows, for example.
  • the signal values when one antenna is set to the transmitting side and the other antenna is set to the receiving side are measured at the time of creating the position table 2112 in the riding state with the driver and the unloaded state without the driver, and the respective values are measured.
  • the signal value when one of the antennas is the transmitting side and the other is the receiving side is measured in the same manner as when the position table 2112 was created with the driver on board. Then, the ratio of signal intensities measured with the stored signal intensities in the non-riding state as a reference, that is, the current attenuation characteristic is obtained. The ratio of this current damping characteristic to the reference damping characteristic is the correction factor.
  • the position table 2112 is corrected by multiplying the signal strength, which is included in the position table 2112 and corresponds to all the positions in the non-line-of-sight region, for each antenna by this correction factor. It is also possible to separately store the reference position table and create the corrected position table from the reference position table each time the correction is performed.
  • the size of the position table 2112 is halved by using the symmetry of the relationship between the received signal and the position of the signal source, but in the present embodiment it can be further halved. That is, it can be determined whether the signal source is before or after the two-wheeled vehicle depending on which of the antenna 11 and the antenna 12 has the higher received signal strength. Therefore, if the antenna 11 and the antenna 12 are the same antenna, it can be considered that the relationship between the received signal and the position of the signal source is symmetrical in the front-back direction. Moreover, this symmetry can be determined only from the received signal strength, even without the position information of the external vehicle.
  • the position table 2112 may have the relationship between the received signal strength and the position of the signal source. Then, in step S605 of FIG. 6, whether the signal source is on the left or right side is determined based on the position information, and whether the signal source is front or back is determined based on the received signal strengths of the two antennas. Then, the direction is determined based on the determination.
  • the angle indicating the direction obtained from the position table 2112 is subtracted from 180 degrees. Further, if it is determined to be left, the sign is inverted. In this way, the size of the position table 2112 can be further reduced. Even if the position information is not included in the ITS signal, the amount of the position table can be reduced by half as in the present embodiment.
  • the received signal strengths of the antenna 11 and the antenna 12 are compared (S701). Then, one of the received signals having the lower signal strength is corrected (S703 to S707).
  • the characteristic of the attenuation factor for each antenna as shown in FIG. 3B is digitized and held, and the compensation is performed so as to compensate for the attenuated amount. Since the circles 31 and 32 indicating the distance from each antenna as shown in FIG. 3A, for example, can be specified by the corrected signal strength, the intersections 331 and 332 thereof are specified. From among them, for example, as shown in the first embodiment, the position specified by the GNSS signal is referenced and determined (S709). Finally, a display or warning is output to the driver regarding the position (S711).
  • the position of the external vehicle can be specified with high accuracy by utilizing the characteristic of the attenuation of the received signal by the occupant, which is unique to the two-wheeled vehicle.
  • a seat on which the driver sits A first communication unit that is provided in front of the seating portion and that communicates with an external vehicle that outputs a signal of a predetermined strength, A straddle-type vehicle that is provided behind the seat portion and includes a second communication unit that communicates with the external vehicle, From the first reception intensity, which is the intensity of the signal that the first communication unit receives from the external vehicle, and the second reception intensity, which is the intensity of the signal that the second communication unit receives from the external vehicle, the external vehicle And a control means for estimating the position of the vehicle.
  • the straddle-type vehicle according to (1), When the first reception intensity is greater than the second reception intensity, the control means determines that the external vehicle is present in front of the saddle-type vehicle, and determines the first reception intensity from the first reception intensity.
  • a straddle-type vehicle is provided, which is characterized in that it is determined that the external vehicle is behind the saddle-type vehicle when the reception strength is higher.
  • a straddle-type vehicle according to (2), A position table in which a pair of the first reception intensity and the second reception intensity is associated with a position of a signal source is provided for each of a front range and a rear range of the saddle type vehicle, The control means determines the position of the signal source associated with the set of the first reception intensity received by the first communication means and the second reception intensity received by the second communication means, from the external vehicle.
  • a straddle-type vehicle characterized by being specified as a position is provided.
  • a position table that associates a pair of the first reception intensity and the second reception intensity with the position of the signal source;
  • the control means determines the position of the signal source associated with the set of the first reception intensity received by the first communication means and the second reception intensity received by the second communication means, from the external vehicle.
  • a straddle-type vehicle characterized by being specified as a position is provided.
  • the straddle-type vehicle according to (3) or (4),
  • the signal received from the other vehicle includes position information of the external vehicle positioned by the Global Navigation Satellite System, When there are a plurality of positions specified by the control means based on the first reception strength and the second reception strength, a position close to the position indicated by the position information is specified as the position of the external vehicle.
  • a straddle-type vehicle is provided.
  • the position table has the first reception intensity and the second reception intensity measured in advance according to the position of the signal source in a state in which an occupant is on the saddle riding type vehicle. Vehicles are provided.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention comprend une première antenne qui est à l'avant d'une partie de siège d'un véhicule à deux roues et communique avec un véhicule externe qui émet un signal d'une intensité prescrite, et une seconde antenne qui est derrière la partie de siège. En outre, la position du véhicule externe, qui sert de source de signal, est estimée à partir d'une première intensité de réception pour un signal reçu par la première antenne et d'une seconde intensité de réception pour un signal reçu par la seconde antenne. A ce moment, étant donné que le signal reçu par l'une des antennes sera atténué par un pilote, cette atténuation peut être utilisée pour spécifier la plage de la source de signal, et la plage peut également être spécifiée en utilisant un GPS.
PCT/JP2019/038139 2018-11-06 2019-09-27 Véhicule à selle WO2020095567A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-209156 2018-11-06
JP2018209156 2018-11-06

Publications (1)

Publication Number Publication Date
WO2020095567A1 true WO2020095567A1 (fr) 2020-05-14

Family

ID=70610951

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/038139 WO2020095567A1 (fr) 2018-11-06 2019-09-27 Véhicule à selle

Country Status (1)

Country Link
WO (1) WO2020095567A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024023921A1 (fr) * 2022-07-26 2024-02-01 三菱電機株式会社 Dispositif de reconnaissance de panneau, système de reconnaissance de panneau et procédé de reconnaissance de panneau

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006072725A (ja) * 2004-09-02 2006-03-16 Matsushita Electric Ind Co Ltd 車載装置
JP2007233684A (ja) * 2006-03-01 2007-09-13 Toyota Motor Corp 道路通行者検出システム及び携帯端末
JP2007310457A (ja) * 2006-05-16 2007-11-29 Denso Corp 車車間通信システム、車車間通信装置、および制御装置
US20130278440A1 (en) * 2012-04-24 2013-10-24 Zetta Research and Development, LLC - ForC Series Anti-collision system and method using message formats containing distances

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006072725A (ja) * 2004-09-02 2006-03-16 Matsushita Electric Ind Co Ltd 車載装置
JP2007233684A (ja) * 2006-03-01 2007-09-13 Toyota Motor Corp 道路通行者検出システム及び携帯端末
JP2007310457A (ja) * 2006-05-16 2007-11-29 Denso Corp 車車間通信システム、車車間通信装置、および制御装置
US20130278440A1 (en) * 2012-04-24 2013-10-24 Zetta Research and Development, LLC - ForC Series Anti-collision system and method using message formats containing distances

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024023921A1 (fr) * 2022-07-26 2024-02-01 三菱電機株式会社 Dispositif de reconnaissance de panneau, système de reconnaissance de panneau et procédé de reconnaissance de panneau

Similar Documents

Publication Publication Date Title
CN109581449B (zh) 一种自动驾驶汽车的定位方法及系统
EP1818682B1 (fr) Dispositif de détermination de position
US6381536B1 (en) Apparatus for generating road information from stored digital map database
JP4412381B2 (ja) 方位検出装置
JP4548604B2 (ja) 車車間通信システム
US20080238771A1 (en) Vehicle position detection system
JPH0694472A (ja) 車両位置決定装置及びこの装置を有する車両
KR102331312B1 (ko) 차량 내부 센서, 카메라, 및 gnss 단말기를 이용한 3차원 차량 항법 시스템
WO2018179189A1 (fr) Dispositif monté sur véhicule, dispositif de calcul, et programme
WO2020095567A1 (fr) Véhicule à selle
US8890747B2 (en) Longitudinal and lateral velocity estimation using single antenna GPS and magnetic compass
TWM617479U (zh) 車輛自動定位管理系統
JP2012168113A (ja) 情報処理装置および情報処理方法
JPH08178681A (ja) ハイブリッドナビゲーションシステム
JPH10141964A (ja) 移動体用ナビゲーション装置及びその処理方法
JPH0943336A (ja) 相対位置測定方法
WO2013047503A1 (fr) Dispositif d'identification d'emplacement, procédé d'identification d'emplacement et programme
JP2023076673A (ja) 情報処理装置、制御方法、プログラム及び記憶媒体
JP2017156112A (ja) 車両位置検出装置
JPH11190771A (ja) Ｇｐｓ測定位置補正装置
CN103528589A (zh) 导航锁路方法及其导航系统
US20100156720A1 (en) Method and Apparatus for Optimizing the Accuracy of Position Determination and Reducing the Integrity Risk of a Receiver in a Global Satellite Navigation System
CN108779986B (zh) 行进方向推测装置
JP4775107B2 (ja) 車両用経路案内装置
CN106546247A (zh) 一种提高定位精度的数据传输装置和方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19883174

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19883174

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: JP