US 12,461,193 B2
Control device, control system, and program
Yoshiki Oishi, Aichi (JP); Satoshi Mori, Aichi (JP); Kenichi Koga, Aichi (JP); and Tatsuya Koike, Aichi (JP)
Assigned to KABUSHIKI KAISHA TOKAI RIKA DENKI SEISAKUSHO, Aichi (JP)
Appl. No. 17/907,794
Filed by KABUSHIKI KAISHA TOKAI RIKA DENKI SEISAKUSHO, Aichi (JP)
PCT Filed Feb. 1, 2021, PCT No. PCT/JP2021/003505
§ 371(c)(1), (2) Date Aug. 29, 2022,
PCT Pub. No. WO2021/250927, PCT Pub. Date Dec. 16, 2021.
Claims priority of application No. 2020-101428 (JP), filed on Jun. 11, 2020.
Prior Publication US 2023/0132672 A1, May 4, 2023
Int. Cl. G01S 5/14 (2006.01); B60R 25/24 (2013.01); G01S 5/02 (2010.01)
CPC G01S 5/14 (2013.01) [B60R 25/24 (2013.01); G01S 5/0221 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A control device comprising a control circuit configured to obtain a distance measurement value, and estimate a relative position of a position changeable communication device with respect to a target space based on the distance measurement value, the distance measurement value being obtained when a single position fixed communication device and the position changeable communication device perform wireless communication, and indicating a distance between the single position fixed communication device and the position changeable communication device, the single position fixed communication device being fixed to a position that is inside the target space that is a space partitioned by a vehicle, and an absolute distance from the single position fixed communication device to a floor part of the target space is smaller than an absolute distance from the single position fixed communication device to a ceiling part of the target space, and the relative position of the position changeable communication device with respect to the target space being changeable,
wherein the relative position of the position changeable communication device is estimated relative to a three-axis coordinate system of the single position fixed communication device, wherein the control circuit obtains an angle at which a signal transmitted by the wireless communication from the position changeable communication device arrives at the single position fixed communication device and the distance measurement value only with respect to the single position fixed communication device, and estimates the relative position based on the obtained angle and the distance measurement value,
wherein the angle is an angle formed between a straight line that connects an origin of a local coordinate system of the single position fixed communication device and the position changeable communication device, and coordinate axes of the local coordinate system, and
wherein a first arrival wave is used for measurement, and
wherein the control circuit processes a direct wave as the first arrival wave from the position changeable communication device, the direct wave being a signal received directly without being reflected or diffracted via a shortest route of transmission and reception, and estimates the relative position based on the direct wave to improve position estimation precision.