PROBLEM TO BE SOLVED: To highly precisely estimate a moving trajectory of a moving entity.SOLUTION: A wheel speed receiving unit receives a measured value of a wheel speed of right and left front wheels of a moving entity. A steering angle receiving unit receives a measured value of a steering angle by which the advancing direction of the moving entity is changed. A memory unit stores the distance in the fore-and-aft direction of the moving entity between the right and left front wheels and right and left rear wheels disposed on the back side of the moving entity behind the right and left front wheels. The memory unit also stores a constant dependent on the spacing in the horizontal direction between the right and left front wheels, the steering angle, and a radius of rotation of the moving entity determined with the steering angle. A trajectory estimation unit performs estimation as described below on the basis of the measured value of the wheel speed of the right and left front wheels, the measured value of the steering angle, the distance in the fore-and-aft direction, the spacing in the horizontal direction, and the constant. Namely, the trajectory estimation unit estimates a gyration quantity and advancement quantity of a middle point between the centers of rotation of the right and left rear wheels on a circle having a center at a point on a straight line passing through the centers of rotation of the right and left rear wheels.
【課題】移動体の移動軌跡を精度よく推定する。【解決手段】車輪速受付部は、移動体の左右の前輪の車輪速の計測値を受付ける。操舵角受付部は、移動体の進行方向を変更する操舵角の計測値を受付ける。記憶部は、左右の前輪と左右の前輪より移動体における後部に設けられた左右の後輪との移動体の前後方向の距離を記憶している。また、記憶部は、左右の前輪の左右方向の間隔、および操舵角と操舵角による移動体の回転半径とに応じた定数を記憶している。軌跡推定部は、左右の前輪の車輪速の計測値、操舵角の計測値、前後方向の距離、左右方向の間隔、および定数に基づき、以下のように推定を行う。すなわち、軌跡推定部は、左右の後輪の回転中心を通る直線上の点を中心とする円上における左右の後輪の回転中心の中点の旋回量と、中点の並進量とを推定する。【選択図】図1
TRAJECTORY ESTIMATION SYSTEM, TRAJECTORY ESTIMATION METHOD AND PROGRAM
軌跡推定装置、軌跡推定方法およびプログラム
28.09.2015
Patent
Elektronische Ressource
Japanisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Europäisches Patentamt | 2024
|Europäisches Patentamt | 2022
|TRAVELLING TRAJECTORY ESTIMATION METHOD AND TRAVELLING TRAJECTORY ESTIMATION APPARATUS
Europäisches Patentamt | 2018
|