Vehicle position detecting device

• US 10,018,473 B2
• Filed: 09/10/2015
• Issued: 07/10/2018
• Est. Priority Date: 09/12/2014
• Status: Active Grant

• Current Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Aisin Seiki Co., Ltd. (Aisin Corp.), DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Mizutani, Yuichi, Fukukawa, Shogi, Asai, Takatomo, Tachibana, Hiroyuki, Ishijima, Hironobu, Takahashi, Kiyoshi
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US15/509,713
• Publication Number:
  US 20170261326A1
• Time in Patent Office: 1,034 Days
• Field of Search: None
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60Y 2400/303 Speed sensors
• CPC Class Codes: B60Y 2400/3032 Wheel speed sensors
• CPC Class Codes: B62D 15/0285 Parking performed automatically
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 22/02 by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator G01C22/002, G01C22/004, G01C22/006 take precedence
• CPC Class Codes: G01C 25/00 Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38
• CPC Class Codes: G01P 21/02 of speedometers
• CPC Class Codes: G01P 3/48 by measuring frequency of generated current or voltage in general G01R23/00
• CPC Class Codes: G01P 3/50 for measuring linear speed G01P3/56 takes precedence
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G08G 1/052 with provision for determining speed or overspeed speed measuring in general G01P
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space

Abstract

A vehicle position detecting device includes an ECU that acquires a wheel speed of a wheel of a vehicle corresponding to rotation of the wheel, detects a skid of the wheel, calculates, when the skid is not detected, a vehicle body speed corresponding to the speed of a vehicle body of the vehicle based on the wheel speed, and corrects, in response to detection of the skid, the wheel speed based on correction information and calculates the vehicle body speed based on the corrected wheel speed. The ECU further calculates the position of the vehicle based on the vehicle body speed depending on the presence of the skid.

Claims

1. A vehicle position detecting device comprising:

an ECU configured to;

acquire a wheel speed of a wheel of a vehicle corresponding to rotation of the wheel;

detect a skid of the wheel;

calculate, when the skid is not detected by the ECU, a vehicle body speed corresponding to a speed of a vehicle body of the vehicle based on the wheel speed, and configured to correct, in response to detection of the skid, the wheel speed based on correction information and calculate the vehicle body speed based on the corrected wheel speed; and

calculate a position of the vehicle based on the vehicle body speed depending on presence of the skid.

2. The vehicle position detecting device according to claim 1, wherein the correction information is set depending on a straight-traveling state of the vehicle and a turning state of the vehicle.

3. The vehicle position detecting device according to claim 1, wherein the correction information is set depending on an accelerating state of the vehicle and a decelerating state of the vehicle.

4. The vehicle position detecting device according to claim 1, wherein the ECU is configured to detect the skid of the wheel based on a physical quantity relating to rotation of an electric motor serving as a drive source of the wheel.

5. The vehicle position detecting device according to claim 1, wherein the ECU is configured to detect the skid of the wheel based on distance information indicating a distance between an object and the vehicle.