Vehicle-direction estimating device, and driving control device including the vehicle-direction estimating device
First Claim
1. A direction estimating device for a vehicle comprising:
- first vehicle-position detecting means for detecting a first position of the vehicle based upon information received from satellites orbiting the Earth;
second vehicle-position detecting means for detecting a second position of the vehicle, differing from the first position of the vehicle, based upon information received from the satellites orbiting the Earth;
planning-route setting means for setting a planning route which the vehicle is to be driven;
radius-of-curvature computing means for computing the radius of curvature of the planning route; and
vehicle-direction estimating means for estimating the direction of the vehicle to be the direction passing through the first position and the second position in a case of the radius of curvature of the planning route less than a predetermined threshold.
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Accused Products
Abstract
A vehicle serving as a moving station includes two GPS antennas disposed away from one another along the longitudinal direction within the vehicle. For automatic steering in the automatic-driving control mode, for a planning route with a small radius of curvature, the direction of the vehicle is estimated to be the direction passing through the positions of the front and rear portions of the vehicle. Otherwise, the direction of the vehicle is estimated to be the direction passing through the current position of the vehicle and the previous position thereof, approximately the length of the vehicle behind the current position. Driving of the vehicle is controlled based upon the current position of the vehicle and the planning route using the estimated direction of the vehicle. Thus, the direction of the vehicle is estimated with high precision appropriately corresponding to each driving situation, thereby enabling precise and stable driving control.
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Citations
11 Claims
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1. A direction estimating device for a vehicle comprising:
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first vehicle-position detecting means for detecting a first position of the vehicle based upon information received from satellites orbiting the Earth;
second vehicle-position detecting means for detecting a second position of the vehicle, differing from the first position of the vehicle, based upon information received from the satellites orbiting the Earth;
planning-route setting means for setting a planning route which the vehicle is to be driven;
radius-of-curvature computing means for computing the radius of curvature of the planning route; and
vehicle-direction estimating means for estimating the direction of the vehicle to be the direction passing through the first position and the second position in a case of the radius of curvature of the planning route less than a predetermined threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification