Vehicle behavior estimation device
First Claim
1. A vehicle behavior estimation device comprising:
- a memory configured to store;
a first restriction condition at a first point, the first restriction condition including a position, a time, and a speed at the first point of a vehicle;
a second restriction condition at a second point different from the first point, the second restriction condition including a position, a time and a speed at the second point of the vehicle; and
physical restriction conditions that include at least an upper limit and a lower limit of a target acceleration of the vehicle; and
a processor coupled to the memory and configured to;
store a vehicle model including a target speed and the target acceleration, generated based on the first restriction condition and the second restriction condition, in the memory when a restriction condition that is stored in the memory includes a passing time that matches with time when a simulation of the vehicle is conducted;
obtain vehicle state data including at least position data and speed data of the vehicle at a predetermined time interval;
determine whether the vehicle model corresponding to the obtained vehicle state data exists in the memory, every time when the vehicle state data are obtained;
calculate the target speed and the target acceleration, based on the obtained vehicle state data and the second restriction condition, when it is determined that the vehicle model corresponding to the obtained vehicle state data does not exist in the memory;
store a new vehicle model including the calculated target speed and the calculated target acceleration in the memory; and
repeat processing to calculate the behavior parameters target speed and the target acceleration by using the updated vehicle state data and the second restriction condition, the target speed and the target acceleration satisfying the physical restriction conditions, the first restriction condition, and the second restriction condition and to update the updated vehicle state data, at the predetermined time interval until the vehicle moves from the first point to the second point.
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Abstract
A vehicle behavior estimation device includes: a storage unit configured to store a restriction condition at a point of a vehicle for which behavior is estimated; vehicle state data that includes position information and speed information of the vehicle; behavior parameters that include speed information and acceleration information of the vehicle; and physical restriction conditions that include an upper limit and a lower limit of the acceleration information; and a processor configured to obtain the vehicle state data by using the restriction condition at the point; calculate behavior parameters of a vehicle model that satisfy a physical restriction condition from the vehicle state data and the restriction condition at the point; update the vehicle state data of the vehicle model based on the behavior parameters; and repeat processing to calculate behavior parameters by using the updated vehicle state data and to update the vehicle state data.
13 Citations
16 Claims
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1. A vehicle behavior estimation device comprising:
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a memory configured to store; a first restriction condition at a first point, the first restriction condition including a position, a time, and a speed at the first point of a vehicle; a second restriction condition at a second point different from the first point, the second restriction condition including a position, a time and a speed at the second point of the vehicle; and
physical restriction conditions that include at least an upper limit and a lower limit of a target acceleration of the vehicle; anda processor coupled to the memory and configured to; store a vehicle model including a target speed and the target acceleration, generated based on the first restriction condition and the second restriction condition, in the memory when a restriction condition that is stored in the memory includes a passing time that matches with time when a simulation of the vehicle is conducted; obtain vehicle state data including at least position data and speed data of the vehicle at a predetermined time interval; determine whether the vehicle model corresponding to the obtained vehicle state data exists in the memory, every time when the vehicle state data are obtained; calculate the target speed and the target acceleration, based on the obtained vehicle state data and the second restriction condition, when it is determined that the vehicle model corresponding to the obtained vehicle state data does not exist in the memory; store a new vehicle model including the calculated target speed and the calculated target acceleration in the memory; and repeat processing to calculate the behavior parameters target speed and the target acceleration by using the updated vehicle state data and the second restriction condition, the target speed and the target acceleration satisfying the physical restriction conditions, the first restriction condition, and the second restriction condition and to update the updated vehicle state data, at the predetermined time interval until the vehicle moves from the first point to the second point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 11, 12, 13, 14, 15, 16)
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9. A non-transitory computer-readable storage medium storing a program executed by a computer that stores a first restriction condition at a first point, the first restriction condition including a time and a speed at the first point of a vehicle, a second restriction condition at a second point different from the first point, the second restriction condition including a time and a speed at the second point of the vehicle, physical restriction conditions that include at least an upper limit and a lower limit of a target acceleration of the vehicle, and a vehicle model including a target speed and the target acceleration, generated based on the first restriction condition and the second restriction condition, in a memory, the program causes the computer to execute a process comprising:
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storing a vehicle model including a target speed and the target acceleration, generated based on the first restriction condition and the second restriction condition, in the memory when a restriction condition that is stored in the memory includes a passing time that matches with time when a simulation of the vehicle is conducted; obtaining vehicle state data including at least position data and speed data of the vehicle at a predetermined time interval; determining whether the vehicle model corresponding to the obtained vehicle state data exists in the memory, every time when the vehicle state data are obtained; calculating, with the computer, the target speed and the target acceleration, based on the obtained vehicle state data and the second restriction condition, when it is determined that the vehicle model corresponding to the obtained vehicle state data does not exist in the memory; storing a new vehicle model including the calculated target speed and the calculated target acceleration in the memory; and repeating calculating the target speed and the target acceleration using the updated vehicle state data and the second restriction condition, the target speed and the target acceleration satisfying the physical restriction conditions, the first restriction condition, and the second restriction condition, and updating the updated vehicle state data, at the predetermined time interval until the vehicle moves from the first point to the second point.
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10. A method to estimate vehicle behavior with a computer, the method comprising:
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storing a first restriction condition at a first point, the first restriction condition including a time and a speed at the first point of a vehicle, a second restriction condition at a second point different from the first point, the second restriction condition including a time and a speed at the second point of the vehicle, physical restriction conditions that include at least an upper limit and a lower limit of a target acceleration of the vehicle, the target acceleration satisfying the second restriction condition, in a memory; storing a vehicle model including a target speed and the target acceleration, generated based on the first restriction condition and the second restriction condition, in the memory when a restriction condition that is stored in the memory includes a passing time that matches with time when a simulation of the vehicle is conducted; obtaining vehicle state data including at least position data and speed data of the vehicle at a predetermined time interval; determining whether the vehicle model corresponding to the obtained vehicle state data exists in the memory, every time when the vehicle state data are obtained; calculating, with the computer, the target speed and the target acceleration, based on the obtained vehicle state data and the second restriction condition, when it is determined that the vehicle model corresponding to the obtained vehicle state data does not exist in the memory; storing a new vehicle model including the calculated target speed and the calculated target acceleration in the memory; and repeating calculating the target speed and the target acceleration using the updated vehicle state data and the second restriction condition, the target speed and the target acceleration satisfying the physical restriction conditions, the first restriction condition, and the second restriction condition, and updating the updated vehicle state data, at the predetermined time interval until the vehicle moves from the first point to the second point.
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Specification