Kabushiki Kaisha Toyota Chuo Kenkyusho

Toyota Jidosha Kabushiki Kaisha

Yoshiko Kojima

Junichi Meguro

Noriyoshi Suzuki

Yoshikazu Hattori

Yoshiaki Irie

Kojiro Takeyama

An image pickup device picks-up forward images, and a GPS information acquiring section acquires satellite information that includes Doppler frequencies. A position/velocity vector computing section computes a velocity vector by using the Doppler frequencies. A locus computing section computes a locus of positions of ones own vehicle. A projected image generating section generates, from the forward images, projected images that are projected onto a road surface. A local map generating section records road surface images, that are obtained for respective points on the locus of ones own vehicle, at respective regions of a local map that is determined on the basis of a traveling direction of a moving body at each point on the locus and a set position and a posture of the image pickup device. Due thereto, a local map generating device can, by a simple structure, generate a highly accurate map.

Local map generating device, local map generating system, global map generating device, global map generating system, and program

A vehicle control device includes travel condition detection devices configured to detect conditions around a vehicle and performs travel control of the vehicle according to the conditions around the vehicle by controlling a plurality of actuators according to information detected by the travel condition detection devices. The vehicle control device has a plurality of the travel condition detection devices. A control amount of at least one of the actuators, from among the plurality of actuators, is restricted according to reliability of a plurality of pieces of the information detected by the plurality of travel condition detection devices.

Vehicle movement actuator controller using travel condition detector input

The present invention provides a position estimation apparatus, mounted at mobile object, including: an acquisition section that acquires transmission source information transmitted from each plural information transmission sources including, information relating to a position of information transmission source, information relating to a distance between information transmission source and mobile object, and information relating to a relative velocity of mobile object with respect to information transmission sources; a trajectory calculation section that calculates, over predetermined duration, a trajectory of mobile object by integrating velocity vectors of mobile object obtained based on transmission source information; and an estimation section that estimates, as a position of mobile object, a position for which trajectory is translated such that a difference between, distances between a plurality of points at different times on trajectory and respective information transmission sources, and acquired distances between respective information transmission sources and mobile object, is minimum.

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Nagoya, Japan

Yoshiko Kojima