PROBLEM TO BE SOLVED: To provide a vehicle pitch angle estimation device capable of suppressing output of a pitch angle of a vehicle with low estimation accuracy.SOLUTION: A vehicle pitch angle estimation device includes: a vertical movement estimation unit 31 for estimating movement in vertical direction of own vehicle from change in a prior photographed image to present photographed image; a pitch angle estimation unit 32 estimating a pitch angle for own vehicle from estimated vertical direction movement; an acceleration estimation unit 34 for estimating acceleration and deceleration component in the pitch angle; a low frequency estimation unit 35 for removing the estimated acceleration and deceleration component from the estimated pitch angle and estimating a low frequency component of the pitch angle with the acceleration and deceleration component removed; a gradient determination unit 36 for determining whether or not a travelled road is a gradient change road with a gradient change; and an output control unit 37 for outputting the estimated pitch angle and the output control unit 37 outputs that with the estimated low frequency component removed from the estimated pitch angle as the pitch angle of own vehicle when determined to be the gradient change road by the gradient determination unit 36 or stops output of the pitch angle of own vehicle.SELECTED DRAWING: Figure 2

    【課題】推定精度の低い車両のピッチ角の出力を抑制可能な車両ピッチ角推定装置を提供する。【解決手段】前回の撮影画像と今回の撮影画像との変化から自車両の上下方向の動きを推定する上下運動推定部31と、推定された上下方向の動きから自車両のピッチ角を推定するピッチ角推定部32と、ピッチ角の加減速成分を推定する加減速推定部34と、推定されたピッチ角から推定された加減速成分を除去し、加減速成分が除去されたピッチ角の低周波成分を推定する低周波推定部35と、推定された低周波成分に基づいて、走行路が勾配変化のある勾配変化路か否かを判定する勾配判定部36と、推定されたピッチ角を出力する出力制御部37とを備え、出力制御部37は、勾配判定部36により勾配変化路と判定された場合に、推定されたピッチ角から推定された低周波成分を除去したものを推定された自車両のピッチ角として出力する、又は自車両のピッチ角の出力を停止する。【選択図】図2


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    Title :

    VEHICLE PITCH ANGLE ESTIMATION DEVICE


    Additional title:

    車両ピッチ角推定装置


    Contributors:
    KONO YASUKI (author) / KAWASAKI NAOTERU (author) / NITANDA NAOKI (author) / HOGI KENTA (author)

    Publication date :

    2017-05-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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