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    • 21. 发明授权
    • Vehicle behavior estimation device
    • 车辆行为估计装置
    • US08930173B2
    • 2015-01-06
    • US13158630
    • 2011-06-13
    • Takuro IkedaEiji Kitagawa
    • Takuro IkedaEiji Kitagawa
    • G06G7/48G05B17/02G08G1/01
    • G05B17/02G08G1/01
    • 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.
    • 车辆行为估计装置包括:存储单元,被配置为在估计行为的车辆的某一点处存储限制条件; 车辆状态数据,其包括车辆的位置信息和速度信息; 包括车辆的速度信息和加速度信息的行为参数; 以及包括加速度信息的上限和下限的物理限制条件; 以及处理器,被配置为通过使用该点处的限制条件来获得车辆状态数据; 从车辆状态数据和该点的限制条件计算满足物理限制条件的车辆模型的行为参数; 基于行为参数来更新车辆模型的车辆状态数据; 并且通过使用更新的车辆状态数据来重复处理以计算行为参数并更新车辆状态数据。