The present invention provides a yaw velocity estimation device that completes midpoint learning for detecting a yaw velocity with high precision. A yaw velocity estimation device for a fourth deformation case is provided with: a yaw velocity sensor for detecting the yaw velocity of the vehicle; an information acquisition unit that acquires information on a front image of the vehicle and information on a vehicle speed; a lane recognition unit that recognizes information of a travel lane drawn on a travel path of the vehicle on the basis of information of a forward image of the vehicle; a standard value calculation unit that calculates a standard value for the yaw velocity on the basis of the information on the travel lane and the information on the vehicle speed; and a midpoint learning unit that performs midpoint learning for detecting a yaw velocity, which is a value detected by the yaw velocity sensor. The midpoint learning unit calculates a midpoint error of the detected yaw velocity on the basis of the difference between the detected value and the standard value, and performs midpoint learning of the detected yaw velocity on the basis of the calculated midpoint error.

    本发明提供一种以高精度完成检测横摆角速度的中点学习的横摆角速度推断装置。第4变形例的横摆角速度推断装置具备:检测本车的横摆角速度的横摆角速度传感器;获取本车的前方图像的信息以及车速的信息的信息获取部;基于本车的前方图像的信息对在本车的行驶路径上绘出的行驶车道的信息进行识别的车道识别部;基于行驶车道的信息以及车速的信息算出横摆角速度的规范值的规范值算出部;以及进行横摆角速度传感器的检测值即检测横摆角速度的中点学习的中点学习部。中点学习部基于检测值与规范值之间的差算出检测横摆角速度的中点误差,并且基于该算出的中点误差进行检测横摆角速度的中点学习。


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    Title :

    Yaw velocity estimation device


    Additional title:

    横摆角速度推断装置


    Contributors:

    Publication date :

    2022-08-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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



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