Title:
ヨーレート補正装置
Document Type and Number:
Japanese Patent JP7206883
Kind Code:
B2
Abstract:
To achieve a yaw rate correction device that calculates an error of a detection yaw rate which a yaw rate sensor of a vehicle detects from an image and vehicle speed which an imaging device acquires on the basis of a proper yaw rate, and thereby can accurately correct the detection yaw rate.SOLUTION: A yaw rate correction device includes: an imaging device 22 that acquires image information on vehicle surroundings; an image information processing unit 20 that calculates a transverse location deviation between a target route and a vehicle, a yaw angle deviation of the vehicle and a curvature of the target route from the image information which the imaging device 22 acquires; and a computation device 14 that, on the basis of a proper yaw rate estimated by applying an actual measurement value including the transverse location deviation, yaw angle deviation, curvature and a vehicle longitudinal speed to be obtained from a vehicle speed sensor 24 to a relational expression of a planar motion including a skid of the vehicle with respect to the target route, calculates an error of a detection yaw rate which a yaw rate sensor 26 detects.SELECTED DRAWING: Figure 1
Inventors:
Daiki Mori
Yoshikazu Hattori
Sugiura Gouge
Hiroyuki Yamaguchi
Yoshikazu Hattori
Sugiura Gouge
Hiroyuki Yamaguchi
Application Number:
JP2018235615A
Publication Date:
January 18, 2023
Filing Date:
December 17, 2018
Export Citation:
Assignee:
Toyota Central R & D Labs.
International Classes:
G01P21/00
Domestic Patent References:
| JP201788006A | ||||
| JP2010274701A | ||||
| JP200832632A |
Foreign References:
| US20090157263 |
Attorney, Agent or Firm:
Atsushi Nakajima
Kato Kazuho
Kato Kazuho
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