VEHICULAR BEHAVIOR DETERMINATION DEVICE AND VEHICULAR BEHAVIOR DETERMINATION METHOD
First Claim
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1. A vehicular behavior determination device which determines a behavior of a vehicle, comprising:
- a first arithmetic processor, which determines a parameter representing the behavior of the vehicle;
a second arithmetic processor, which calculates a posture vector representing a posture of the vehicle in a global coordinate system on the basis of a determination result determined by the first arithmetic processor; and
a third arithmetic processor, which calculates an angular velocity vector representing an angular velocity of the vehicle around each of 3 orthogonal axes in a vehicular coordinate system on the basis of a temporal variation mode of the posture vector calculated by the second arithmetic processor.
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Abstract
According to a vehicular behavior determination device (100) of the present invention, an angular velocity vector ω(k) which represents an angular velocity around each of 3 axes of a vehicle (1) can be determined in high accuracy on the basis of a temporal variation mode of a posture vector psti(k) (i=x, y, z) which represents a posture of the vehicle (1) in a global coordinate system in an attempt to curtail a manufacture cost and size of the vehicle (1) by avoiding the usage of a 3-axis gyro sensor which is relatively expensive in price and large in size.
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Citations
5 Claims
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1. A vehicular behavior determination device which determines a behavior of a vehicle, comprising:
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a first arithmetic processor, which determines a parameter representing the behavior of the vehicle; a second arithmetic processor, which calculates a posture vector representing a posture of the vehicle in a global coordinate system on the basis of a determination result determined by the first arithmetic processor; and a third arithmetic processor, which calculates an angular velocity vector representing an angular velocity of the vehicle around each of 3 orthogonal axes in a vehicular coordinate system on the basis of a temporal variation mode of the posture vector calculated by the second arithmetic processor. - View Dependent Claims (2, 3, 4)
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5. A vehicular behavior determination method of determining a behavior of a vehicle, comprising steps of:
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a first arithmetic processing for determining a parameter representing the behavior of the vehicle; a second arithmetic processing for calculating a posture vector representing a posture of the vehicle in a global coordinate system on the basis of a determination result determined by the first arithmetic processing; and a third arithmetic processing for calculating an angular velocity vector representing an angular velocity of the vehicle around each of 3 orthogonal axes in a vehicular coordinate system on the basis of a temporal variation mode of the posture vector calculated by the second arithmetic processing.
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Specification