PROBLEM TO BE SOLVED: To provide a technique for estimating a travel locus even when an effective steering gear ratio cannot be received from a VGRS system in a vehicle comprising the VGRS system.SOLUTION: A travel locus estimation device comprises: a steering angle acquisition part for acquiring a steering angle; a vehicle speed acquisition part for acquiring vehicle speed; and a travel locus estimation part for (i) estimating a travel locus on the basis of a steering gear ratio and a steering angle when an effective steering gear ratio can be received from a system, (ii) estimating the travel locus on the basis of the effective steering gear ratio which has been received last and the steering angle, if a change amount of the steering angle since last reception of the effective steering gear ratio is smaller than a prescribed value, when the effective steering gear ratio cannot be received, and estimating the travel locus on the basis of vehicle speed and the steering angle regardless of the received steering gear ratio, if the change amount of the steering angle since last reception of the effective steering gear ratio, is equal to or larger than the prescribed value.SELECTED DRAWING: Figure 2
【課題】VGRSシステムを備える車両において、VGRSシステムから有効なステアリングギア比を受信できない場合でも走行軌跡を推定できる技術を提供する。【解決手段】走行軌跡推定装置は、操舵角を取得する操舵角取得部と、車速を取得する車速取得部と、(i)システムから有効なステアリングギア比が受信できる場合、当該ステアリングギア比と操舵角に基づいて走行軌跡を推定し、(ii)有効なステアリングギア比が受信できない場合、最後に有効なステアリングギア比を受信したときからの操舵角の変化量が所定値より小さければ、最後に受信した有効なステアリングギア比と操舵角に基づいて走行軌跡を推定し、最後に有効なステアリングギア比を受信したときからの操舵角の変化量が所定値以上であれば、受信したステアリングギア比によらずに車速と操舵角に基づいて走行軌跡を推定する走行軌跡推定部と、を備える。【選択図】図2
TRAVEL LOCUS ESTIMATION DEVICE
走行軌跡推定装置
2017-07-27
Patent
Electronic Resource
Japanese
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 / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
TRAVEL LOCUS GENERATION DEVICE AND TRAVEL LOCUS GENERATION METHOD
European Patent Office | 2017
|Locus estimation device, locus estimation method and program
European Patent Office | 2018
|LOCUS ESTIMATION DEVICE, LOCUS ESTIMATION METHOD, AND PROGRAM
European Patent Office | 2017
|