PROBLEM TO BE SOLVED: To enable improvement in the accuracy of estimating a rotation angle of the vehicle itself.SOLUTION: A vehicle rotation angle estimation apparatus includes: a target recognition part for recognizing plural first targets existing nearby a vehicle itself at a first temporal point and plural second targets existing nearby the vehicle itself at a second temporal point after given time after the first temporal point; a correlation part for correlating a second target with at least one of the first target existing within a certain distance on a plane; a shift angle calculation part for calculating a shift angle for each combination of the correlated first target and second target; a distance calculation part for calculating a first distance being a distance between the vehicle itself and the first target, and a second target being a distance between the vehicle itself and the second target; a weighting setup part for setting, for each combination of the first target and second target, a weighting of the shift angle in the aforementioned combination on the basis of the first distance of the first target and the second distance of the second target; and a rotation angle estimation part for estimating a rotation angle of the vehicle itself on the basis of the weighted plural shift angles.SELECTED DRAWING: Figure 5

    【課題】自車両の回転角の推定精度を向上することができる。【解決手段】第1時点で自車両の周囲に存在する複数の第1物標と第1時点より所定時間後の第2時点で自車両の周囲に存在する複数の第2物標とを認識する物標認識部と、平面上で一定距離内に含まれる少なくとも一つの第1物標を第2物標に対応付ける対応付け部と、対応付けられた第1物標及び第2物標の組み合わせ毎に変位角度を算出する変位角度算出部と、自車両と第1物標との距離である第1距離と、自車両と第2物標との距離である第2距離とを算出する距離算出部と、第1物標及び第2物標の組み合わせ毎に、第1物標の第1距離及び第2物標の第2距離に基づいて、当該組み合わせにおける変位角度の重み付けを設定する重み付け設定部と、重み付けされた複数の変位角度に基づいて自車両の回転角を推定する回転角推定部と、を備える車両回転角推定装置。【選択図】図5


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    Title :

    VEHICLE ROTATION ANGLE ESTIMATION APPARATUS


    Additional title:

    車両回転角推定装置


    Contributors:

    Publication date :

    2017-12-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    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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