Provided is a yaw velocity estimation device that estimates, with high precision, the yaw velocity of a yaw motion of a vehicle that varies at any time. This yaw velocity estimation device is provided with: an information acquisition unit that acquires information on a forward image and information on a vehicle speed; a lane recognition unit that recognizes a travel lane drawn on the travel path of the vehicle and the curvature thereof on the basis of the information of the forward image; a direction change rate calculation unit that calculates a change rate in the direction of the travel lane on the basis of the curvature of the travel lane and the vehicle speed information; a yaw angle change rate calculation unit that calculates the rate of change of the yaw angle of the vehicle with respect to the direction of the travel lane on the basis of the curvature of the travel lane and the vehicle speed information; and a lane yaw velocity estimation unit that estimates a lane yaw velocity on the basis of the rate of change in the direction of the travel lane and the rate of change in the yaw angle of the host vehicle with respect to the direction of the travel lane. The estimated lane yaw velocity is used as the yaw velocity of the host vehicle.
本发明提供一种横摆角速度推断装置,其以高精度推断体现时刻变动的本车的横摆运动的横摆角速度。横摆角速度推断装置具备:获取前方图像的信息以及车速的信息的信息获取部;基于前方图像的信息识别在本车的行驶路径上绘出的行驶车道以及其曲率的车道识别部;基于行驶车道的曲率以及车速的信息算出行驶车道的方向的变化率的方向变化率算出部;基于行驶车道的曲率以及车速的信息算出本车的横摆角相对于行驶车道的方向的变化率的横摆角变化率算出部;基于行驶车道的方向的变化率、以及本车的横摆角相对于行驶车道的方向的变化率推断车道横摆角速度的车道横摆角速度推断部,使用推断出的所述车道横摆角速度来作为本车的横摆角速度。
Yaw velocity estimation device
横摆角速度推断装置
2022-08-16
Patent
Electronic Resource
Chinese
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 |
VELOCITY ESTIMATION DEVICE, VELOCITY ESTIMATION METHOD, AND VELOCITY ESTIMATION PROGRAM
European Patent Office | 2019
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