A method for collision avoidance between a vulnerable road user transportation vehicle and a surrounding transportation vehicle. The user of the vulnerable road user transportation vehicle makes use of a portable communication device. Since such vulnerable road users are often involved in accidents since they are not easily recognized in the traffic, the disclosure increases safety for these vulnerable road users. The method includes transferring position detecting sensor data or derived position data of the vulnerable road user transportation vehicle to the portable communication device which performs a map matching technique for refining the position data and transfers the refined position data to the vulnerable road user transportation vehicle. The vulnerable road user transportation vehicle distributes the refined position data to the surrounding transportation vehicles which calculate a trajectory for the vulnerable road user transportation vehicle and estimate the risk of a collision.

A disturbance estimation apparatus including a navigation data receiver, a thrust data receiver, and processing circuitry is provided. The navigation data receiver acquires navigation data including an actual position and time of the ship on a water surface. The thrust data receiver receives thrust data indicating a magnitude and a direction of a thrust force of the ship. The processing circuitry estimates a predicted position of the ship under an absence of a disturbance condition at a predetermined time in the future using a first state estimation model based on the navigation data and the thrust data and determines disturbance data including a drift direction of the ship drifted by an external force based on a difference between the predicted position estimated by the first state estimation model and an actual position of the ship at the predetermined time.

A disturbance estimation apparatus including a navigation data receiver, a thrust data receiver, and processing circuitry is provided. The navigation data receiver acquires navigation data including an actual position and time of the ship on a water surface. The thrust data receiver receives thrust data indicating a magnitude and a direction of a thrust force of the ship. The processing circuitry estimates a predicted position of the ship under an absence of a disturbance condition at a predetermined time in the future using a first state estimation model based on the navigation data and the thrust data and determines disturbance data including a drift direction of the ship drifted by an external force based on a difference between the predicted position estimated by the first state estimation model and an actual position of the ship at the predetermined time.

In a method of calibrating a gyro sensor mounted on a vehicle for measuring an angular velocity in a rotating direction generated about an axis of a vertical direction, a lateral shift amount detection process of detecting lateral shift amounts of the vehicle with respect to magnetic markers laid in a road, an azimuth estimation process of estimating, when the vehicle passes over a laying location where two magnetic markers are laid, an azimuth of the vehicle by a calculation process with the lateral shift amounts with respect to the two magnetic markers taken as input values, and a calibration process of calibrating the gyro sensor by using the azimuth of the vehicle estimated by the azimuth estimation process, are performed.

The invention relates to a display system included in a device for traveling a path between at least two distinct points and for using at least one heading datum, wherein the display system comprises at least: an image sensor configured to acquire environmental images during the path traveled by the device; an image processing module capable of determining the drift of the device in real time; a module for determining information that is representative of the route taken by the device, a module for real-time determination of the true heading followed by the device from the information that is representative of the route and the drift of the device, a module for returning to the user information that is representative of the true heading.

The invention relates to a display system included in a device for traveling a path between at least two distinct points and for using at least one heading datum, wherein the display system comprises at least: an image sensor configured to acquire environmental images during the path traveled by the device; an image processing module capable of determining the drift of the device in real time; a module for determining information that is representative of the route taken by the device, a module for real-time determination of the true heading followed by the device from the information that is representative of the route and the drift of the device, a module for returning to the user information that is representative of the true heading.

A system, comprising a clock generating a timing signal, a magnetometer coupled to the clock and configured to receive the timing signal and to generate first heading data and a gyroscope coupled to the clock and configured to receive the timing signal and to generate second heading data. The system further includes a first adder coupled to the magnetometer and gyroscope and configured to determine a difference signal as a function of the first heading data and the second heading data and a constrain data system coupled to the first adder and configured to apply a limit to the difference signal. A combine delta system is coupled to the constrain data system and configured to combine two or more of the constrained data values to generate a combined delta signal, and a second adder coupled to the gyroscope and the combine delta system and configured to add the combined delta signal to the second heading data.

A system, comprising a clock generating a timing signal, a magnetometer coupled to the clock and configured to receive the timing signal and to generate first heading data and a gyroscope coupled to the clock and configured to receive the timing signal and to generate second heading data. The system further includes a first adder coupled to the magnetometer and gyroscope and configured to determine a difference signal as a function of the first heading data and the second heading data and a constrain data system coupled to the first adder and configured to apply a limit to the difference signal. A combine delta system is coupled to the constrain data system and configured to combine two or more of the constrained data values to generate a combined delta signal, and a second adder coupled to the gyroscope and the combine delta system and configured to add the combined delta signal to the second heading data.

A system and method for generating a three-dimensional (3D) map of a facility is provided. The system has at least one processor and a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform functions comprising: receiving a two-dimensional (2D) map of the facility; converting or importing the 2D map to a base map; generating or editing polygons on the base map, each polygon representative of a facility unit in the base map; generating one or more perspectives at one or more points on the base map to generate the 3D map.

A system and method for generating a three-dimensional (3D) map of a facility is provided. The system has at least one processor and a memory having stored thereon instructions that, upon execution by the at least one processor, cause the system to perform functions comprising: receiving a two-dimensional (2D) map of the facility; converting or importing the 2D map to a base map; generating or editing polygons on the base map, each polygon representative of a facility unit in the base map; generating one or more perspectives at one or more points on the base map to generate the 3D map.