To provide a vehicle body posture angle estimation device that estimates a posture angle of a vehicle body from an image photographed with a photographing device, vehicle speed, a yaw rate of the vehicle body and acceleration of the vehicle body.SOLUTION: A vehicle body posture angle estimation device includes: a photographing device 22 that obtains image information on a circumference of a vehicle body; an image information processing part 20 that calculates a lateral position deviation of a target route and the vehicle body, and a yaw angle deviation of the vehicle body, from the image information obtained by the photographing device 22; and a calculation device 14 that estimates transverse speed of the vehicle body and a posture angle of the vehicle body from the lateral position deviation, the yaw angle deviation and speed in a longitudinal direction obtained from a vehicle speed sensor 24, a yaw rate obtained from a yaw rate sensor 26 and an actually measured value including acceleration obtained from an acceleration sensor 28, using a formula representing a relation of movements of the vehicle body including side slipping and a formula representing a relation of movements of the vehicle body in a longitudinal direction or in a lateral direction including acceleration of the vehicle body.SELECTED DRAWING: Figure 1
【課題】撮像装置が取得した画像、車速、車体のヨーレート及び車体の加速度から車体の姿勢角を推定する車体姿勢角推定装置を実現する。【解決手段】車体周辺の画像情報を取得する撮像装置22と、撮像装置22が取得した画像情報から、目標経路と車体との横位置偏差及び車体のヨー角偏差を算出する画像情報処理部20と、横滑りを含む車体の運動との関係を表す式、及び車体の加速度を含む前後方向又は横方向の車体の運動の関係を表す式を用いて、横位置偏差、ヨー角偏差、車速センサ24から得られる前後速度、ヨーレートセンサ26から得られるヨーレート及び加速度センサ28から得られる加速度を含む実測値から、車体の横速度及び車体の姿勢角を推定する演算装置14と、を含んでいる。【選択図】図1
VEHICLE BODY POSTURE ANGLE ESTIMATION DEVICE
車体姿勢角推定装置
2020-06-25
Patent
Electronic Resource
Japanese
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