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1. 发明专利

JP2009073466A Vehicle posture angle estimation device and program 有权
标题翻译：车辆角度角估计装置和程序
公开(公告)号：JP2009073466A
公开(公告)日：2009-04-09
申请号：JP2008068271
申请日：2008-03-17
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YAMAGUCHI KATSUYUKI , YASUTOMI DAISUKE
IPC分类号： B60R16/02 , G01C19/00
摘要： PROBLEM TO BE SOLVED: To estimate a pitch angle with a high accuracy even when a vehicle is running in bank with an increasing vertical acceleration by estimating a roll angle and the pitch angle using an estimated value of a pitch angular velocity estimated from the balance of the vertical movement of a vehicle body.
SOLUTION: The device includes: a lateral velocity estimating means 10 for estimating the lateral vehicle velocity; a forward and backward velocity estimating means 12 for estimating the forward and backward vehicular velocity based on a wheel velocity of each wheel; a pitch angular velocity estimating means 24 for estimating the pitch angular velocity; and a vehicular posture angle estimation means 26 for estimating the roll angle and pitch angle based on sensor signals corresponding to detected values of the forward and backward acceleration of the vehicular movement, lateral acceleration, vertical acceleration, and roll angular velocity, and an estimated value of the forward and backward vehicular velocity and the estimated value of the pitch angular velocity. The pitch angular velocity estimating means estimates the pitch angular velocity based on the estimated value of forward and backward vehicle velocity, estimated value of the lateral vehicle velocity, the detected value of the vertical acceleration, the detected value of the roll angular velocity, the previous estimated value of the roll angular velocity and the previous estimated value of the pitch angle.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：即使当车辆以垂直加速度增加的方式行驶时，通过使用从下式估计的俯仰角速度的估计值来估计侧倾角和俯仰角，即可高精度地估计俯仰角车体垂直运动的平衡。解决方案：该装置包括：用于估计侧向车速的横向速度估计装置10; 用于基于每个车轮的车轮速度估计前进和后退车辆速度的前进和后退速度估计装置12; 用于估计俯仰角速度的俯仰角速度估计装置24; 以及车辆姿势角估计装置26，用于基于与车辆运动的前进和后退加速度，横向加速度，垂直加速度和侧倾角速度的检测值相对应的传感器信号来估计侧倾角和俯仰角，以及估计值的前进和后退车辆速度以及俯仰角速度的估计值。俯仰角速度估计装置基于前进和后退车速的估计值，侧向车速的估计值，垂直加速度的检测值，滚动角速度的检测值，前一个滚转角速度的估计值和俯仰角的先前估计值。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2008094375A Vehicle physical quantity estimating apparatus and program 有权
标题翻译：车辆物理量估计装置和程序
公开(公告)号：JP2008094375A
公开(公告)日：2008-04-24
申请号：JP2006348604
申请日：2006-12-25
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YOSHIDA HIROYUKI
IPC分类号： B60R16/02 , B60W30/02 , B60W40/10 , B60W40/101 , B60W40/103 , B60W40/109
摘要： PROBLEM TO BE SOLVED: To estimate a roll angle from relations between lateral components of vehicle motion in a low frequency range that is not affected by spins and the like, and the effects of vehicle attitude angles.
SOLUTION: A vehicle physical quantity estimating apparatus comprises an estimation means 10 for estimating a longitudinal vehicle body speed from wheel speeds, an estimation means 16 for estimating the pitch angle from the longitudinal vehicle body speed estimate and a detected value of longitudinal acceleration of detected vehicle motion; a deviation computation means 18 for computing deviation of the lateral acceleration state quantity, depending on the vehicle attitude angles from the longitudinal vehicle body speed estimate; the pitch angle estimate and detected values of lateral acceleration and yaw speed of the detected vehicle motion; a low-pass filter 20 for transmitting only signals, representing the lateral acceleration state quantity deviation which correspond to the motion of interest; and an estimation means 22 for estimating the roll angle from the low-pass-filtered signals, representing the lateral acceleration state quantity deviation, the pitch angle estimate and detected values of yaw speed and roll velocity.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：从不受旋转等影响的低频范围内的车辆运动的侧向分量与车辆姿态角度的影响之间的关系来估计侧倾角。解决方案：一种车辆物理量估计装置，包括：用于从车轮速度估计纵向车体速度的估计装置10，用于从纵向车身速度估计估计俯仰角的估计装置16和纵向加速度的检测值检测车辆运动; 用于根据来自纵向车身速度估计值的车辆姿态角计算侧向加速度状态量的偏差的偏差计算装置18; 检测到的车辆运动的俯仰角估计和横向加速度和偏航速度的检测值; 低通滤波器20，用于仅发送信号，表示与感兴趣的运动相对应的横向加速度状态量偏差; 以及估计装置22，用于根据低通滤波信号估计侧倾角，表示横向加速度状态量偏差，俯仰角估计值和偏航速度和侧倾速度的检测值。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2010143379A Vehicle attitude angle estimation device and program 有权
标题翻译：车辆姿态角度估计装置和程序
公开(公告)号：JP2010143379A
公开(公告)日：2010-07-01
申请号：JP2008322315
申请日：2008-12-18
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YAMAGUCHI KATSUYUKI , YASUTOMI DAISUKE
IPC分类号： B60W30/00 , B60W40/10 , B60W40/11 , B60W40/112
CPC分类号： H01L2924/12041 , H01L2924/00
摘要： PROBLEM TO BE SOLVED: To estimate an attitude angle with high precision even in the case of a road surface the vertical acceleration of which changes. SOLUTION: An acceleration state quantity saturating characteristic correction means 30 corrects vertical acceleration state quantity obtained by using the estimation value of a roll angle and the estimation value of a pitch angle so that the vertical acceleration state quantity is provided with saturating characteristics. A state quantity deviation low pass filter value calculation means 26 calculates the deviation of longitudinal acceleration state quantity, the deviation of lateral acceleration state quantity, and the deviation of vertical acceleration state quantity to which low pass filter processing has been performed based on: the low pass filter processing values of the longitudinal acceleration state quantity, the lateral acceleration state quantity, and the vertical acceleration state quantity, calculated by an attitude angle observer; and the longitudinal acceleration state quantity and the lateral acceleration state quantity obtained by using a sensor signal and the estimation value of the longitudinal body speed and the estimation value of the lateral body speed. An attitude angle estimation means 28 estimates a roll angle and a pitch angle by feeding back the deviation of the longitudinal acceleration state quantity, the deviation of the lateral acceleration state quantity, and the deviation of the vertical acceleration state quantity. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使在其垂直加速度变化的路面的情况下，也能够高精度地估计姿态角。解决方案：加速状态量饱和特性校正装置30校正通过使用滚动角度的估计值和俯仰角的估计值而获得的垂直加速度状态量，使得垂直加速度状态量具有饱和特性。状态量偏差低通滤波值计算装置26基于以下方式计算纵向加速度状态量的偏差，横向加速度状态量的偏差和进行了低通滤波处理的垂直加速度状态量的偏差：低由姿态角观察者计算的纵向加速状态量，横向加速状态量和垂直加速状态量的通过滤波处理值; 以及通过使用传感器信号获得的纵向加速度状态量和横向加速度状态量以及纵向体速度的估计值和侧体速度的估计值。姿势角估计装置28通过反馈纵向加速度状态量的偏差，横向加速度状态量的偏差和垂直加速度状态量的偏差来估计滚动角度和俯仰角。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2010043945A Apparatus for estimating vehicle attitude angle and apparatus for estimating sensor drift 有权
标题翻译：用于估计车辆姿态角度的装置和用于估计传感器倾斜的装置
公开(公告)号：JP2010043945A
公开(公告)日：2010-02-25
申请号：JP2008208153
申请日：2008-08-12
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YAMAGUCHI KATSUYUKI , YASUTOMI DAISUKE
IPC分类号： G01C21/00 , G08G1/0969
摘要： PROBLEM TO BE SOLVED: To accurately estimate attitude angles by reducing the effects of drift errors.
SOLUTION: An apparatus for estimating vehicle attitude angles includes a forward and backward speed estimation means 12 for estimating forward and backward vehicle speed; a lateral speed estimation means 10 for estimating lateral vehicle speed; a pitch angular velocity estimation means 24 for estimating pitch angular velocity; an initial insensitive area correction means 23 for correcting sensor signals from a roll angular velocity sensor 20 and a vertical acceleration sensor 14 in such a way as to set an initial insensitive area; and an attitude angle observer 26 for estimating roll angles and pitch angles on the basis of each sensor signal, corrected sensor signals from the roll angular velocity sensor 20 and the vertical acceleration sensor 14, an estimated value of the forward and backward vehicle speed, and an estimated value of the pitch angular velocity. The pitch angular velocity estimation means 24 estimates pitch angular velocity on the basis of the estimated value of the forward and backward vehicle speed, an estimated value of the lateral vehicle speed, each detection value of corrected roll angular velocity and corrected vertical acceleration, estimated values of an estimated roll angle and an estimated pitch angle of the last time.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：通过减少漂移误差的影响来精确估计姿态角度。解决方案：用于估计车辆姿态角的装置包括用于估计前进和后退车辆速度的前进和后退速度估计装置12; 用于估计侧向车速的横向速度估计装置10; 用于估计俯仰角速度的俯仰角速度估计装置24; 初始不敏感区域校正装置23，用于校正来自辊角速度传感器20和垂直加速度传感器14的传感器信号，以便设置初始不敏感区域; 以及姿态角观察器26，其基于各传感器信号，来自侧倾角速度传感器20和垂直加速度传感器14的校正传感器信号，前后车速的推定值，以及俯仰角速度的估计值。俯仰角速度推定单元24基于前进和后退车速的估计值，侧向车速的估计值，校正滚动角速度的检测值和校正的垂直加速度，估计值估计滚动角度和最后一次的估计俯仰角。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2009067300A Vehicle body speed estimation device 有权
标题翻译：车身速度估计装置
公开(公告)号：JP2009067300A
公开(公告)日：2009-04-02
申请号：JP2007239593
申请日：2007-09-14
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YAMAGUCHI KATSUYUKI , YASUTOMI DAISUKE
IPC分类号： B60R16/02 , B60W40/10 , B60W40/105 , G01P3/50
CPC分类号： B60G17/0182 , B60G2400/051 , B60G2400/0511 , B60G2400/0512 , B60G2400/0523 , B60G2400/104 , B60G2400/106 , B60G2400/204 , B60G2400/2042 , B60G2400/208 , B60G2600/09 , B60G2600/1872 , B60G2600/70 , B60W40/105 , B60W40/109 , B60W40/11 , B60W40/112 , B60W40/114 , B60W2050/0033
摘要： PROBLEM TO BE SOLVED: To estimate vehicle body speed based on an equation of motion in which longitudinal body speed and lateral body speed are made to be a state amount without using a vehicle motion model which is subject to a road surface to travel on.
SOLUTION: A roll angle which is an attitude angle to a vertical shaft of a vehicle body and a pitch angle are estimated. The longitudinal body speed which is the body speed in the longitudinal direction of a vehicle is calculated based on wheel speed of each wheel. The longitudinal body speed and the lateral body speed which is the body speed in the lateral direction of the vehicle are made to be the state amount of a vehicle motion. The lateral body speed is estimated based on respective detected values of longitudinal-direction acceleration of the vehicle motion, lateral acceleration, and a yaw angle speed, respective estimated values of the roll angle and the pitch angle, and a product of an operation value of the longitudinal body speed and a value obtained from an absolute value of the detected value of the yaw angle speed.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：基于使纵向车身速度和侧车身速度成为状态量的运动方程来估计车身速度，而不使用经过路面行驶的车辆运动模型上。＆lt; P＆gt;解决方案：估计作为车体的垂直轴的姿态角和俯仰角的侧倾角。基于车轮的车轮速度来计算作为车辆纵向方向车身速度的纵向车身速度。作为车辆的左右方向的车身速度的纵向车身速度和侧身速度为车辆运动的状态量。基于车辆运动的纵向加速度，横向加速度和偏航角速度，滚动角度和俯仰角的各自的估计值以及运动值的乘积的乘积来估计侧身体速度纵向体速度和从偏航角速度的检测值的绝对值获得的值。版权所有（C）2009，JPO＆INPIT

6. 发明专利

JP2010070184A Sensor drift amount estimation device 有权
标题翻译：传感器转速估算装置
公开(公告)号：JP2010070184A
公开(公告)日：2010-04-02
申请号：JP2009002455
申请日：2009-01-08
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YAMAGUCHI KATSUYUKI , YASUTOMI DAISUKE
IPC分类号： B60W40/10 , G01B21/22 , G01C19/00 , G01C21/10 , G01P21/00
CPC分类号： B60T8/1755 , B60T8/172 , B60T2250/06 , B60T2250/062 , G01C7/04 , G01C19/00 , G01C21/30 , G01P21/00
摘要： PROBLEM TO BE SOLVED: To stably estimate a sensor drift amount irrespective of the state of vehicle motion. SOLUTION: A posture angle observer 24 calculates a differential amount of a posture angle of a vehicle body to the vertical axis, based on a sensor signal corresponding to each sensor detection value. A differential amount calculation means 26 of the equation of motion, calculates the differential amount of the posture angle obtained from the equation of motion of the vehicle motion, based on the sensor signal and the posture angle estimated by the posture angle observer 24. When the sensor drift amount of the sensor signal is taken into consideration, the sensor drift amount of each sensor signal is estimated by a drift amount estimation means 28, using such a relation that the differential amount of the posture angle calculated by the posture angle observer 24 is equal to the value of the differential amount of the posture angle, which is calculated by the differential amount calculation means 26 of the equation of motion in consideration of the sensor drift amount. A drift amount correction means 22 corrects each sensor signal based on the estimated sensor drift amount. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：与车辆运动状态无关地稳定地估计传感器漂移量。姿势角度观测器24基于与各传感器检测值对应的传感器信号，计算出车身与垂直轴的姿势角的差分量。运动方程式的微分量计算装置26基于由姿态角观察者24估计的传感器信号和姿态角度，计算从车辆运动的运动方式获得的姿势角的微分量。当考虑到传感器信号的传感器漂移量，利用漂移量估计单元28来估计各传感器信号的传感器漂移量，使用由姿态角观察者24计算出的姿势角的差分量为等于由差动量计算装置26考虑到传感器漂移量的运动方程计算出的姿势角的微分量的值。漂移量校正装置22基于估计的传感器漂移量校正每个传感器信号。版权所有（C）2010，JPO＆INPIT

7. 发明专利

JP2010143378A Vehicle attitude angle estimation device and program 有权
标题翻译：车辆姿态角度估计装置和程序
公开(公告)号：JP2010143378A
公开(公告)日：2010-07-01
申请号：JP2008322314
申请日：2008-12-18
申请人： Toyota Central R&D Labs Inc , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社豊田中央研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , YAMAGUCHI KATSUYUKI , YASUTOMI DAISUKE
IPC分类号： B60W30/00 , B60W30/02 , B60W40/10 , B60W40/11 , B60W40/112
摘要： PROBLEM TO BE SOLVED: To estimate an attitude angle with high precision even in the case of a sharp upslope the attitude angle of which becomes large. SOLUTION: A state quantity deviation low pass filter value calculation means 26 calculates the deviation of longitudinal acceleration state quantity, the deviation of lateral acceleration state quantity and the deviation of vertical acceleration state quantity, to which low pass filter processing has been performed. A feedback gain setting means 30 sets the absolute values of the feedback gains of the deviation of the longitudinal acceleration state quantity and the deviation of the lateral acceleration state quantity so as to be larger according as the absolute value of the estimation value of a roll angle and the absolute value of the estimation value of a pitch angle are larger. An attitude angle estimation means 28 estimates the roll angle and the pitch angle by feeding back the calculated deviation of the longitudinal acceleration state quantity, the calculated deviation of the lateral acceleration state quantity and the calculated deviation of the vertical acceleration state quantity. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：即使在其姿态角度变大的急剧上升的情况下，也可以高精度地估计姿态角。解决方案：状态量偏差低通滤波器值计算装置26计算已执行低通滤波处理的纵向加速度状态量的偏差，横向加速度状态量的偏差和垂直加速度状态量的偏差。反馈增益设定单元30将纵向加速度状态量的偏差和横向加速度状态量的偏差的反馈增益的绝对值根据滚动角度的估计值的绝对值设定得较大并且俯仰角的估计值的绝对值较大。姿态角估计装置28通过反馈所计算的纵向加速度状态量的偏差，所计算的横向加速度状态量的偏差和计算出的垂直加速状态量的偏差来估计滚动角和俯仰角。版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2010100123A Vehicle motion control device and program 有权
标题翻译：车辆运动控制装置和程序
公开(公告)号：JP2010100123A
公开(公告)日：2010-05-06
申请号：JP2008272113
申请日：2008-10-22
申请人： Institute Of Physical & Chemical Research , Toyota Central R&D Labs Inc , 株式会社豊田中央研究所 , 独立行政法人理化学研究所
发明人： ONO HIDEKAZU , MIURA YUMIKO , AMANO MASAKI , HOSOE SHIGEYUKI
IPC分类号： B60T7/12 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/00 , B60W30/09 , B60W30/10 , B62D6/00 , B62D101/00 , B62D137/00
摘要： PROBLEM TO BE SOLVED: To achieve automatic operation reducing sense of incongruity given to a driver and avoiding obstacles. SOLUTION: By an obstacle avoidance potential function computing means 24, a potential function for obstacle avoidance is computed based on a relative position between a current target arrival point and an obstacle. By a target vehicle motion computing means 30, based on a vehicle control potential function which is the sum of a potential function for following a target and the computed potential function for obstacle avoidance, a deviation angle between the current vehicle advancing direction and the direction to the target arrival point, and a gradient of the vehicle control potential function in the relative position between the current vehicle position and the target arrival point are computed, and based on the gradient of the vehicle control potential function, a target vehicle motion is computed. By a vehicle motion control means 32, a steering device and an acceleration/deceleration device are controlled so that the computed target vehicle motion is achieved. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：实现自动操作，减少给予驾驶员的不协调感并避免障碍。解决方案：通过避障潜力函数计算装置24，基于当前目标到达点和障碍物之间的相对位置来计算避障障碍的潜在功能。通过目标车辆运动计算装置30，基于作为用于跟踪目标的潜在功能和计算出的障碍物避免的潜在功能之和的车辆控制电位函数，当前车辆前进方向与当前车辆前进方向之间的偏差角计算目标到达点和车辆控制电位函数在当前车辆位置与目标到达点之间的相对位置的坡度，并且基于车辆控制电位函数的梯度，计算目标车辆运动。通过车辆运动控制装置32，控制转向装置和加速/减速装置，使得实现计算出的目标车辆运动。版权所有（C）2010，JPO＆INPIT

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