To estimate a tilt of an axle that corresponds to a position where a vehicle travels.SOLUTION: A tilt estimation device 10 has: a storage unit 11 for storing a plurality of sets of coordinate information that show three-dimensional coordinates of a road surface; a coordinate information acquisition unit 124 for acquiring a plurality of sets of coordinate information that correspond to a traveling-directional road surface being a road surface in a travelling direction of a vehicle from the storage unit 11; a plane estimation unit 125 for estimating a tilt of a plane of the traveling-directional road surface on the basis of the plurality of sets of coordinate information acquired by the coordinate information acquisition unit 124; a tilt estimation unit 126 for estimating a tilt of an axle of the vehicle in a direction orthogonal to the traveling direction of the vehicle on the plane on the basis of the tilt of the plane and the traveling direction of the vehicle; and an output unit 127 for outputting the tilt of the axle.SELECTED DRAWING: Figure 2
【課題】車両が進行する位置に対応する車軸の傾きを推定する。【解決手段】傾き推定装置10は、路面の三次元の座標を示す複数の座標情報を記憶する記憶部11と、記憶部11から車両の進行方向の路面である進行方向路面に対応する複数の座標情報を取得する座標情報取得部124と、座標情報取得部124が取得した複数の座標情報に基づいて進行方向路面の平面の傾きを推定する平面推定部125と、平面の傾きと車両の進行方向とに基づいて、平面の車両の進行方向と直交する方向の車両の車軸の傾きを推定する傾き推定部126と、車軸の傾きを出力する出力部127と、を有する。【選択図】図2
TILT ESTIMATION DEVICE, TILT ESTIMATION METHOD, AND PROGRAM
傾き推定装置、傾き推定方法及びプログラム
2022-02-18
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 |
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