ESTIMATION DEVICE AND PARKING SUPPORT APPARATUS

• Main Authors: NAKAKITA MANABU, MORIMOTO AKIHIRO, HAMAI YUYA
• Format: Patent
• Language: English; Japanese
• Published: 16.05.2019
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MOTOR VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRAILERS; TRANSPORTING; VEHICLES IN GENERAL

To provide technique allowing for suppression of deterioration in precision of position estimation due to a vehicle speed, in parking support for supporting parking operation by automatic vehicle steering.SOLUTION: An estimation unit 222 is mounted on a vehicle 100. An acquisition unit 250 acquires a tire angle and a speed of the vehicle 100. A turning radius calculation unit 252 calculates a turning radius of the vehicle 100 based on the acquired tire angle. A correction unit 258 (1) stores a ratio of a measured value of the turning radius to the turning radius, the ratio varying with the speed, (2) determines the ratio based on the speed acquired by the acquisition unit 250, and (3) multiplies the turning radius calculated by the turning radius calculation unit 252 by the determined ratio to thereby correct the calculated turning radius.SELECTED DRAWING: Figure 3 【課題】車両を自動操舵して駐車操作の支援を行う駐車支援において、車両の速度による位置推定の精度の低下を抑制する技術を提供する。【解決手段】推定部２２２は、車両１００に搭載される。取得部２５０は、車両１００のタイヤ角と速度とを取得する。回転半径算出部２５２は、取得したタイヤ角をもとに車両１００の回転半径を算出する。補正部２５８は、（１）回転半径に対する回転半径の実測値の比であって、かつ速度に応じて変化する比を記憶しており、（２）取得部２５０において取得した速度をもとに比を特定し、（３）回転半径算出部２５２において算出した回転半径に、特定した比を乗算することで補正する。【選択図】図３