Apparatus using radio reception for detecting displacement of a vehicle in a direction at right angles to its advancement direction

• US 9,541,406 B2
• Filed: 10/08/2015
• Issued: 01/10/2017
• Est. Priority Date: 10/10/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Nakata, Tsuneo, Nagura, Toru
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US14/878,231
• Publication Number:
  US 20160102985A1
• Time in Patent Office: 460 Days
• Field of Search: 701/300, 701/409, 701/410, 701/411, 701/454, 701/515, 701/521
• US Class Current: 1/1
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3658 Lane guidance
• CPC Class Codes: G01S 5/011 Identifying the radio environment
• CPC Class Codes: G01S 5/02521 using a radio-map

Abstract

An apparatus installed on a host vehicle derives travel locus/condition information relating each of a plurality of reception positions on the vehicle to a corresponding reception condition (e.g., received signal strength), and updates the information at each of successive positions along a travel locus of the vehicle. The currently obtained information is compared with reference travel locus/condition information previously obtained by travel along a reference travel locus, in the same travel direction, by the host vehicle or similar vehicle. Degrees of similarity between the currently obtained information and the reference information are evaluated, and the results used to detect changes in position of the host vehicle along a direction at right angles to its advancement direction.

Claims

1. A terminal apparatus installed on a host vehicle, comprising

a radio communication condition acquisition unit configured for acquiring respective radio communication conditions of a plurality of radio communication positions on the host vehicle,

a travel locus/condition information generating unit configured for generating a plurality of sets of travel locus/condition information respectively corresponding to the radio communication positions on the host vehicle, the travel locus/condition information for a radio communication position expressing the radio communication condition at each of respective positions on a travel locus of the host vehicle, the travel locus comprising positions successively attained by the host vehicle when moving along a specific travel direction, and

a reception map acquisition unit configured for acquiring a plurality of reception maps respectively corresponding to the radio communication positions on the host vehicle, each of the reception maps comprising travel locus/condition information previously generated by the terminal apparatus of the host vehicle or of a vehicle of identical type to the host vehicle when moving along the specific travel direction;

wherein the terminal apparatus is characterized in that the plurality of radio communication positions on the host vehicle are spaced apart with respect to a direction at right angles to an advancement direction of the host vehicle, and in comprising a relative position estimation unit configured for;

determining a plurality of respectively different information combinations, each of the information combinations comprising one of the travel locus/condition information sets generated by the host vehicle and one of the reception maps,

calculating respective magnitudes of agreement degree of the information combinations,

comparing the respective magnitudes of agreement degree with one another, and

estimating a position of the host vehicle relative to a reference travel locus, with respect to a direction at right angles to the reference travel locus, based on results of the comparison;

the reference travel locus comprising a travel locus previously traversed along the travel direction by the host vehicle or vehicle of the same type as the host vehicle when obtaining the travel locus/condition information constituting the reception maps.

2. The terminal apparatus as claimed in claim 1, wherein an amount and direction of change in position of the host vehicle in a direction at right angles to the advancement direction is estimated as an amount of change in position of the host vehicle relative to the reference travel locus in a direction at right angles to the reference travel locus.

3. The terminal apparatus as claimed in claim 1, comprising a position variation estimation unit configured for estimating a rate of variation with time of the position of the host vehicle along a direction at right angles to the advancement direction of the host vehicle, based on a rate of variation with time of magnitude relationships between a plurality of the agreement degrees.

4. The terminal apparatus as claimed in claim 1, wherein

the plurality of radio communication positions on the host vehicle are disposed in line along a direction at right angles to the advancement direction of the host vehicle.

5. The terminal apparatus as claimed in claim 1, comprising a travel distance compensation unit configured for applying compensation to respective lengths of the reception maps when the host vehicle is travelling around a curved section of the reference travel locus.

6. The terminal apparatus as claimed in claim 5, wherein the radio communication positions comprise a first radio communication position and a second radio communication position, the plurality of travel locus/condition information sets comprise a first travel locus/condition information set and a second travel locus/condition information set respectively corresponding to the first radio communication position and the second radio communication position, and the plurality of reception maps comprise a first reception map and a second reception map respectively corresponding to the first radio communication position and the second radio communication position, and

wherein the travel distance compensation unit:

selects a first one of the information combinations as having a greater magnitude of agreement degree when the host vehicle is positioned at an outer side of the curved section of the reference travel locus than when the host vehicle is positioned at the reference travel locus, and applies the compensation by expanding a length of a selected part of a travel locus of the reception map corresponding to the first information combination, the selected part corresponding to the curved section of the reference travel locus; and

selects a second one of the information combinations as having a greater magnitude of agreement degree when the host vehicle is positioned at an inner side of the curved section of the reference travel locus than when the host vehicle is positioned at the reference travel locus, and applies the compensation by contracting a length of a selected part of a travel locus of the reception map corresponding to the second information combination, the selected part corresponding to the curved section of the reference travel locus.

7. The terminal apparatus as claimed in claim 6, wherein the travel distance compensation unit is configured to:

acquire a radius of curvature (r) of the curved section of the reference travel locus and a value of separation distance (d) between the first radio communication position and the second radio communication position as measured along a direction at right angles to the advancement direction of the host vehicle;

expand the length of the selected part of the travel locus of the reception map corresponding to the first information combination by multiplying by a factor (r+d)/r; and

contract the length of the selected part of the travel locus of the reception map corresponding to the second information combination by multiplying by a factor r/(r+d).

8. The terminal apparatus as claimed in claim 1, comprising a directionality adjustment unit controllable for adjusting respective radio signal reception directivities at the plurality of radio communication positions.