Moving speed estimation device for mobile body and control device for mobile body

• US 10,132,825 B2
• Filed: 04/20/2016
• Issued: 11/20/2018
• Est. Priority Date: 04/27/2015
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kawai, Takayuki, Toba, Kaoru
• Primary Examiner(s): Vu, Vu A
• Application Number:
  US15/133,637
• Publication Number:
  US 20160313364A1
• Time in Patent Office: 944 Days
• Field of Search: 702142
• CPC Class Codes: G01C 21/10 by using measurements of speed or acceleration G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01P 11/00 Measuring average value of speed by determining time taken to traverse a fixed distance G01P3/64, G01P5/18
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 15/58 Velocity or trajectory determination systems; Sense-of-movement determination systems velocity measurement in imaging systems G01S15/8979
• CPC Class Codes: G01S 17/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G06V 40/23 Recognition of whole body movements, e.g. for sport training

Abstract

A moving speed estimation device which includes a vibration component information estimation unit 4 which estimates the vibration cycle or vibration frequency of the periodic vibration component included in instantaneous moving speed of a mobile body A along with a periodic moving action of the mobile body A. The moving speed estimation device also includes a speed estimated value adjustment processing unit 5 which sequentially generates speed values as estimated values of the moving speed of the mobile body A, where the speed value is obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency for the time series of the instantaneous moving speed estimated from the time series of the measured value of the position of the mobile body A.

Claims

1. A control device for a mobile body for performing movement control of the mobile body, which moves in an operating environment space, the control device comprising a moving speed estimation device for the mobile body for estimating a moving speed of the mobile body which moves at speed including a periodic vibration component generated along with a periodic moving action, the moving speed estimation device comprising:

a position measuring unit which sequentially measures a position of the mobile body;

an instantaneous moving speed estimation unit which sequentially estimates an instantaneous moving speed of the mobile body from a time series of a measured value of the position of the mobile body obtained by the position measuring unit;

a vibration component information estimation unit which estimates a vibration cycle or vibration frequency of the periodic vibration component included in a time series of the instantaneous moving speed of the mobile body along with the periodic moving action of the mobile body; and

a speed estimated value adjustment processing unit which sequentially generates speed values as estimated values of the moving speed of the mobile body, where the speed values are obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency obtained by the vibration component information estimation unit for the time series of an estimated value of the instantaneous moving speed obtained by the instantaneous moving speed estimation unit,

wherein the generated speed values are used in performing movement control of the mobile body.

2. The control device according to claim 1, wherein the vibration component information estimation unit is configured to estimate the vibration cycle or vibration frequency from a frequency at which a spectral intensity has a peak value in spectral distribution data obtained by transforming the time series of the estimated value of the instantaneous moving speed of the mobile body to a frequency domain.

3. The control device according to claim 1, wherein the vibration component information estimation unit is configured to estimate the vibration cycle or vibration frequency based on previously-created data for estimating the vibration cycle or vibration frequency.

4. The control device according to claim 3, wherein:

the data is correlation data representing a relationship between the moving speed and the vibration cycle or vibration frequency of the mobile body; and

the vibration component information estimation unit is configured to update the estimated value of the vibration cycle or vibration frequency based on the correlation data from the estimated value of the moving speed fed back from the speed estimated value adjustment processing unit.

5. The control device according to claim 1, wherein the speed estimated value adjustment processing unit is configured to perform processing of removing the vibration component corresponding to the estimated value of the vibration cycle or vibration frequency with a band-stop filter configured based on the estimated value of the vibration cycle or vibration frequency.

6. The control device according to claim 1, wherein:

the mobile body is a legged mobile body;

the speed estimated value adjustment processing unit is configured to perform processing of removing the vibration component of a first vibration frequency, which is a lowest frequency, among the vibration components as the vibration component generated along with the periodic moving action of the mobile body and the vibration component of a second vibration frequency, which is a double frequency of the first vibration frequency, from the estimated value of the instantaneous moving speed; and

the vibration component information estimation unit is configured to estimate at least one of the first vibration frequency, a first vibration cycle corresponding to the first vibration frequency, the second vibration frequency, and a second vibration cycle corresponding to the second vibration frequency.

7. The control device according to claim 1, wherein the speed estimated value adjustment processing unit is configured to sequentially generate the estimated values of the moving speed of the mobile body by further performing processing of removing components in a high frequency range that is higher than the vibration component with a high-frequency component removal filter in addition to the vibration component corresponding to the estimated value of the vibration cycle or vibration frequency from the estimated value of the instantaneous moving speed.

8. A control device for a mobile body for performing movement control of a mobile body to be controlled, which moves in an operating environment space, the device comprising:

a future position prediction unit which predicts a future position of each of mobile bodies existing in the operating environment space;

a movable region estimation unit which estimates a movable region of the mobile body to be controlled;

a moving speed estimation device configured so as to be able to estimate a moving speed of each of the mobile bodies which move at speed including a periodic vibration component generated along with a periodic moving action, the moving speed estimation device comprising;

a position measuring unit which sequentially measures a position of the each of the mobile bodies;

an instantaneous moving speed estimation unit which sequentially estimates an instantaneous moving speed of each of the mobile bodies from a time series of a measured value of the position of each of the mobile bodies obtained by the position measuring unit;

a vibration component information estimation unit which estimates a vibration cycle or vibration frequency of the periodic vibration component included in a time series of the instantaneous moving speed of each of the mobile bodies along with the periodic moving action of each of the mobile bodies; and

a speed estimated value adjustment processing unit which sequentially generates speed values as estimated values of the moving speed of each of the mobile bodies, where the speed values are obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency obtained by the vibration component information estimation unit for the time series of an estimated value of the instantaneous moving speed obtained by the instantaneous moving speed estimation unit,

wherein the position measuring unit is configured so as to be able to measure a position of an object existing in the operating environment space including each of the mobile bodies; and

a moving track control unit which controls a moving track of the mobile body to be controlled,

wherein;

the future position prediction unit is configured to predict the future position of each of the mobile bodies by using the moving speed estimated by the moving speed estimation device with respect to each of the mobile bodies;

the movable region estimation unit is configured to estimate a combined region of a region where it is recognized that no object exists from measurement data of the position measuring unit and an existing region of each of the mobile bodies whose moving speed is estimated by the moving speed estimation device, as the movable region, in the operating environment space; and

the moving track control unit is configured to control the moving track of the mobile body to be controlled so that the mobile body to be controlled is moved in a region not interfering with an unmovable region which is other than the movable region estimated by the movable region estimation unit and with future positions of other mobile bodies predicted by the future position prediction unit, when the mobile body to be controlled is moved.

9. The control device for the mobile body according to claim 8, wherein the movable region estimation unit is configured to determine whether or not an unmeasurable region should be a movable region based on past measurement data with respect to the unmeasurable region, in a case where the unmeasurable region exists, where measurement data is not able to be generated according to a positional relationship between a sensor for generating the measurement data of the position measuring unit and any of the mobile bodies.

10. The control device for the mobile body according to claim 9, wherein the movable region estimation unit is configured to determine the unmeasurable region as a movable region in a case where the unmeasurable region is able to be estimated as a movable region from latest measurement data among the past measurement data about the unmeasurable region.