An odometry acquiring unit acquires odometry information including a yaw rate applied to a vehicle and a steering angle of the vehicle. An estimate calculating unit calculates an estimate of a turning radius based on the steering angle and the yaw rate acquired by the odometry acquiring unit. A change rate calculating unit calculates a yaw change rate representing a degree of change in the yaw rate acquired by the odometry acquiring unit. A contribution adjusting unit makes an adjustment of decreasing a contribution of the yaw rate and increasing a contribution of the steering angle, to calculation of an estimate performed by the estimate calculating unit, as the yaw change rate increases.
ESTIMATING APPARATUS
12.12.2019
Patent
Elektronische Ressource
Englisch
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
POSITION ESTIMATING APPARATUS, POSITION ESTIMATING SYSTEM, AND POSITION ESTIMATING METHOD
Europäisches Patentamt | 2018
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