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US5337243A
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US
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Vehicle orientation calculating device
Assignee: Panasonic Holdings Corp
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Filing: 1991-11-12
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Granted: 1994-08-09
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Expires: 2011-11-12
Abstract
Abstract An object of the present invention is to provide precise calculation of a position and an orientation of a vehicle running or moving on route. Regarding the vehicle moving along a given route and with possible variations in the running orientation it is judged that the vehicle has moved substantially on a straight line when an integrated value of the orientation variations is smaller than a predetermined value. By obtaining a regression line of GPS receiving positions in the straight line, a precise orientation of the vehicle is obtained by adding a difference between the orientations of the straight line and the regression line to an original orientation of the vehicle.
Inventors
- 👤 Akihito Shibata
- 👤 Hiroaki Tsuji
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 08:35
CPC Classifications
G; G06; G06G; G06G7/00; G06G7/48; G06G7/78
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
219 words
A vehicle orientation calculating device comprising: a) GPS (Global Positioning System) position calculating means for calculating GPS receiving positions in response to signals received from GPS satellites; b) vehicle position calculating means for calculating a position of a vehicle, based on; 1) an angular velocity; and 2) a velocity of the vehicle; c) straight drive detecting means, responsive to said vehicle position calculating means, for detecting whether or not the vehicle has moved in a straight line; d) GPS trajectory calculating means, responsive to said GPS position calculating means, for obtaining a resultant regression line based on GPS receiving positions in a straight drive trajectory of the vehicle, said trajectory calculating means including; 1) means for defining lines passing through the GPS receiving positions and normal to a tentative regression line; 2) means for calculating a sum of squares of line lengths from the respective GPS receiving positions to the tentative regression line; and 3) means for determining the resultant regression line to minimize the calculated sum; and e) vehicle orientation correcting means, responsive to said GPS trajectory calculating means, for adding; 1) an original orientation of the vehicle; and 2) an orientation difference between; i) the orientation of the vehicle driven in said straight drive trajectory; and ii) the resultant regression line determined for said straight drive trajectory.
Claim 2
Dependent Claim
219 words
A vehicle orientation calculating device comprising: a) GPS (Global Positioning System) position calculating means for calculating GPS receiving positions in response to signals received from GPS satellites; b) vehicle position calculating means for calculating a position of a vehicle, based on; 1) an angular velocity; and 2) a velocity of the vehicle; c) straight drive detecting means, responsive to said vehicle position calculating means, for detecting whether or not the vehicle has moved in a straight line; d) GPS trajectory calculating means, responsive to said GPS position calculating means, for obtaining a resultant regression line based on GPS receiving positions in a straight drive trajectory of the vehicle, said trajectory calculating means including; 1) means for defining lines passing through the GPS receiving positions and normal to a tentative regression line; 2) means for calculating a sum of squares of line lengths from the respective GPS receiving positions to the tentative regression line; and 3) means for determining the resultant regression line to minimize the calculated sum; and e) vehicle orientation correcting means, responsive to said GPS trajectory calculating means, for adding; 1) an original orientation of the vehicle; and 2) an orientation difference between; i) the orientation of the vehicle driven in said straight drive trajectory; and ii) the resultant regression line determined for said straight drive trajectory.
Claim 3
Dependent Claim
44 words
A vehicle orientation calculating device according to claim 1, wherein said straight drive detecting means judges that the vehicle has moved on a straight line, when variations in the orientation of the vehicle in a predetermined drive distance are smaller than a predetermined value.
Claim 4
Dependent Claim
23 words
A vehicle orientation calculating device according to claim 2, wherein the angular velocity of the vehicle is detected by using an angular sensor.
Claim 5
Dependent Claim
46 words
A vehicle orientation calculating device according to claim 1, wherein said vehicle orientation correcting means corrects the orientation of the vehicle, only in the case where a mean value of distances between said GPS receiving positions and said regression line is smaller than a predetermined value.
Claim 6
Dependent Claim
23 words
A vehicle orientation calculating device according to claim 4, wherein the angular velocity of the vehicle is detected by using an angular sensor.
Claim 7
Dependent Claim
23 words
A vehicle orientation calculating device according to claim 1, wherein the angular velocity of the vehicle is detected by using an angular sensor.
Claim 8
Dependent Claim
202 words
A vehicle orientation calculating device comprising: a) GPS (Global Positioning System) position calculating means for calculating GPS receiving positions in response to signals received from GPS satellites; b) vehicle position calculating means for calculating a position of a vehicle, based on; 1) an angular velocity; and 2) a velocity of the vehicle; c) straight drive detecting means, responsive to said vehicle position calculating means, for detecting whether or not the vehicle has moved in a straight line; d) GPS trajectory calculating means, responsive to said GPS position calculating means, including; 1) means for calculating a plurality of mean values of GPS receiving positions, where GPS signals have been received in a period in which the vehicle is stopped at positions between a starting position and an ending position of a straight drive trajectory of the vehicle; and 2) means for obtaining a line connecting the starting position and the ending position; and e) vehicle orientation correcting means, responsive to said GPS trajectory calculating means, for adding; 1) an original orientation of the vehicle and 2) an orientation difference between; i) the orientation of the vehicle in said straight drive trajectory; and ii) the line connecting said starting position and said ending position.
Claim 9
Dependent Claim
202 words
A vehicle orientation calculating device comprising: a) GPS (Global Positioning System) position calculating means for calculating GPS receiving positions in response to signals received from GPS satellites; b) vehicle position calculating means for calculating a position of a vehicle, based on; 1) an angular velocity; and 2) a velocity of the vehicle; c) straight drive detecting means, responsive to said vehicle position calculating means, for detecting whether or not the vehicle has moved in a straight line; d) GPS trajectory calculating means, responsive to said GPS position calculating means, including; 1) means for calculating a plurality of mean values of GPS receiving positions, where GPS signals have been received in a period in which the vehicle is stopped at positions between a starting position and an ending position of a straight drive trajectory of the vehicle; and 2) means for obtaining a line connecting the starting position and the ending position; and e) vehicle orientation correcting means, responsive to said GPS trajectory calculating means, for adding; 1) an original orientation of the vehicle and 2) an orientation difference between; i) the orientation of the vehicle in said straight drive trajectory; and ii) the line connecting said starting position and said ending position.
Claim 10
Dependent Claim
44 words
A vehicle orientation calculating device according to claim 3, wherein said straight drive detecting means judges that the vehicle has moved on a straight line, when variations in the orientation of the vehicle in a predetermined drive distance are smaller than a predetermined value.
Claim 11
Dependent Claim
23 words
A vehicle orientation calculating device according to claim 8, wherein the angular velocity of the vehicle is detected by using an angular sensor.
Claim 12
Dependent Claim
23 words
A vehicle orientation calculating device according to claim 7, wherein the angular velocity of the vehicle is detected by using an angular sensor.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1997-08-08 | 1998-02-07 | 1998-08-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-08-08 | 2002-02-07 | 2002-08-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-08-08 | 2006-02-07 | 2006-08-09 | $7700.00 | Window Closed / Lapsed |