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Vehicular behavior determination device and vehicular behavior determination method

  • US 8,160,816 B2
  • Filed: 08/21/2008
  • Issued: 04/17/2012
  • Est. Priority Date: 08/27/2007
  • Status: Expired due to Fees
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;

    wherein the second arithmetic processor calculates an ith posture vector (i=1, 2,

         3) which represents a posture of each of the 3 orthogonal axes of the vehicular coordinate system in the global coordinate system as the posture vector; and

    the third arithmetic processor obtains a rotational main axis vector which represents a direction of a rotational main axis in the global coordinate system by combining 3 rotational axis vectors for making a previous ith posture vector match with a current ith posture vector, calculates a first-order angular velocity vector which represents an angular velocity of the vehicle around each of the 3 orthogonal axes in the global coordinate system on the basis of the obtained rotational main axis vector, the previous ith posture vector and the current ith posture vector, and thereafter calculates a second-order angular velocity vector which represents the angular velocity of the vehicle around each of the 3 orthogonal axes in the vehicular coordinate system as the angular velocity vector on the basis of the first-order angular velocity vector and the ith posture vector.

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