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

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kanai, Kazunori, Oiwa, Ken
• Primary Examiner(s): Jayne, Darnell
• Assistant Examiner(s): Varghese, Sasha T
• Application Number:
  US12/196,060
• Publication Number:
  US 20090062981A1
• Time in Patent Office: 1,335 Days
• Field of Search: 701/29, 701/33, 701/500, 701/504, 701/505, 701/506, 701/507, 701/508
• US Class Current: 701/504
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: G01C 21/30 Map- or contour-matching

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 pst_i(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.

Claims

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 i^th 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 i^th posture vector match with a current i^th 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 i^th posture vector and the current i^th 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 i^th posture vector.

2. The vehicular behavior determination device according to claim 1, wherein the third arithmetic processor calculates an angular acceleration vector which represents an angular acceleration of the vehicle around each of the 3 orthogonal axes in the vehicular coordinate system on the basis of the temporal variation mode of the angular velocity vector.

3. The vehicular behavior determination device according to claim 1, wherein the third arithmetic processor calculates an angular acceleration vector which represents an angular acceleration of the vehicle around each of the 3 orthogonal axes in the vehicular coordinate system on the basis of the temporal variation mode of the angular velocity vector.

5. The vehicular behavior determination device according to claim 1, wherein the parameter is one or more of a roll axis velocity in the roll axis direction, a roll axial component of acceleration of the vehicle, a pitch axial component of acceleration of the vehicle, and an angular velocity around the yaw axis of the vehicle.

4. A vehicular behavior determination method of determining a behavior of a vehicle, comprising steps of:

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;

wherein the second arithmetic processing comprises calculating an i^th 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 processing comprises obtaining 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 i^th posture vector match with a current i^th posture vector, calculating 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 i^th posture vector and the current i^th posture vector, and thereafter calculating 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 i^th posture vector.