Locus estimation device and locus estimating method
First Claim
1. A locus estimation device, comprising:
- a storage device which stores a distance between right and left front wheels and right and left rear wheels provided behind the front wheels in a moving object in a traveling direction of the moving object, a distance between the right and left front wheels in a direction of axles of the moving object, and a constant depending on a steering angle and a rotation radius of the moving object at the steering angle; and
a processor configured toaccept a measured value of a wheel speed of the right and left front wheels,accept a measured value of a steering angle at which the traveling direction of the moving object is changed,estimate an amount of a rotation of a middle point of a rotation center of the right and left rear wheels on a circle having a center which is a point on a straight line passing through the rotation center of the right and left rear wheels, and an amount of translation of the middle point using a least squares method on the basis of the measured value of the wheel speed of the right and left front wheels, the measured value of the steering angle, the distance in the traveling direction of the body of the moving object, the distance in the direction of the axles of the moving object, and the constant, the estimated amount of the rotation of the middle point and the estimated amount of the translation of the middle point being used to estimate an actual driving locus of a movement of the moving object, andcontrol the moving object based on the estimated driving locus of a movement of the moving object.
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Accused Products
Abstract
A processor of a locus estimation device accepts a measured value of a wheel speed of right and left front wheels of a moving object, and a measured value of a steering angle at which the traveling direction is changed. Based on a measured value of a wheel speed of the right and left front wheels, a measured value of a steering angle, a distance in the direction of the body of the moving object, a distance in the direction of the axle of the moving object, and a constant, the processor estimates an amount of rotation of the middle point of a rotation center of the right and left rear wheels on a circle having a center which is a point on a straight line passing through the rotation center of the right and left rear wheels, and an amount of translation of the middle point.
37 Citations
13 Claims
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1. A locus estimation device, comprising:
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a storage device which stores a distance between right and left front wheels and right and left rear wheels provided behind the front wheels in a moving object in a traveling direction of the moving object, a distance between the right and left front wheels in a direction of axles of the moving object, and a constant depending on a steering angle and a rotation radius of the moving object at the steering angle; and a processor configured to accept a measured value of a wheel speed of the right and left front wheels, accept a measured value of a steering angle at which the traveling direction of the moving object is changed, estimate an amount of a rotation of a middle point of a rotation center of the right and left rear wheels on a circle having a center which is a point on a straight line passing through the rotation center of the right and left rear wheels, and an amount of translation of the middle point using a least squares method on the basis of the measured value of the wheel speed of the right and left front wheels, the measured value of the steering angle, the distance in the traveling direction of the body of the moving object, the distance in the direction of the axles of the moving object, and the constant, the estimated amount of the rotation of the middle point and the estimated amount of the translation of the middle point being used to estimate an actual driving locus of a movement of the moving object, and control the moving object based on the estimated driving locus of a movement of the moving object. - View Dependent Claims (2, 3, 4, 5)
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6. A locus estimating method, comprising:
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storing, by a storage device, a distance between right and left front wheels and right and left rear wheels provided behind the front wheels in a moving object in a traveling direction of the moving object, a distance between the right and left front wheels in a direction of axles of the moving object, and a constant depending on a steering angle and a rotation radius of the moving object at the steering angle; accepting, by a processor, a measured value of a wheel speed of right and left front wheels of the moving object, and a measured value of a steering angle at which the traveling direction of the moving object is changed; estimating, by the processor, an amount of a rotation of a middle point of a rotation center of the right and left rear wheels on a circle having a center which is a point on a straight line passing through a rotation center of the right and left rear wheels, and an amount of translation of the middle point using a least squares method on the basis of the measured value of the wheel speed of the right and left front wheels, the measured value of the steering angle, the distance in the traveling direction of the body of the moving object obtained from the storage device, the distance in the direction of the axles of the moving object obtained from the storage device, and the constant obtained from the storage device, the estimated amount of the rotation of the middle point and the estimated amount of the translation of the middle point being used to estimate an actual driving locus of a movement of the moving object; and controlling the moving object based on the estimated driving locus of a movement of the moving object. - View Dependent Claims (7, 8, 9, 10)
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11. A non-transitory computer-readable recording medium having stored therein a program for causing a computer to execute a process comprising:
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storing, to a storage device, a distance between right and left front wheels and right and left rear wheels provided behind the front wheels in a moving object in a traveling direction of the moving object, a distance between the right and left front wheels in a direction of axles of the moving object, and a constant depending on a steering angle and a rotation radius of the moving object at the steering angle; accepting a measured value of a wheel speed of right and left front wheels of the moving object, and a measured value of a steering angle at which the traveling direction of the moving object is changed; estimating an amount of a rotation of a middle point of a rotation center of right and left rear wheels on a circle having a center which is a point on a straight line passing through a rotation center of the right and left rear wheels, and an amount of translation of the middle point using a least squares method on the basis of the measured value of the wheel speed of the right and left front wheels, the measured value of the steering angle, the distance in the traveling direction of the body of the moving object obtained from the storage device, the distance in the direction of the axles of the moving object obtained from the storage device, and the constant obtained from the storage device, the estimated amount of the rotation of the middle point and the estimated amount of the translation of the middle point being used to estimate an actual driving locus of a movement of the moving object; and controlling the moving object based on the estimated driving locus of a movement of the moving object. - View Dependent Claims (12, 13)
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Specification