Calculation apparatus, control method, program and storage medium

Patent metadata

Field	Value
Publication number	US-11318950-B2
Application number	US-201616088972-A
Country	US
Kind code	B2
Filing date	Mar 29, 2016
Priority date	Mar 29, 2016
Publication date	May 3, 2022
Grant date	May 3, 2022

Abstract

In cases when it is determined that a measured yaw angle (Ψ L ) can be calculated on the basis of the output of a LIDAR ( 12 ), a control unit ( 15 ) calculates the measured yaw angle (Ψ L ) as the estimated yaw angle (Ψ E ), and performs calibration processing on a gyro sensitivity coefficient (A), a gyro offset coefficient (B), a steering angle sensitivity coefficient (C) and a steering angle offset coefficient (D). Meanwhile, in cases when it has been determined that the measured yaw angle (Ψ L ) cannot be calculated, the control unit ( 15 ) calculates a gyro sensor-based yaw rate (Ψ ⋅ G ) on the basis of the steering angle sensitivity coefficient (C) and the steering angle offset coefficient (D) while calculating a steering angle-based yaw rate (Ψ ⋅ S ) on the basis of the steering angle sensitivity coefficient (C) and the steering angle offset coefficient (D), and weights these calculated values in accordance with the degrees of their reliabilities to thereby calculate an estimated yaw rate (Ψ ⋅ E ) for calculating the estimated yaw angle (Ψ E ).

First claim

The invention claimed is:

1. A calculation apparatus comprising:
a memory configured to store one or more programs; and
a control unit coupled to the memory and configured to execute the one or more programs to:
measure a yaw angle for a first processing time,
determine the measured yaw angle as an estimated yaw angle for the first processing time,
calculate a measured yaw rate from the estimated yaw angle,
correct, on a basis of the measured yaw rate and a speed of a moving body for the first processing time, calculation information to be used for calculation of an estimated yaw rate in a case that a measured yaw angle, for a second processing time subsequent to the first processing time, is not obtained,
calculate the estimated yaw rate for the second processing time based on the speed of the moving body and the corrected calculation information from the first processing time during which the measured yaw angle was obtained, and
calibrate output of one or more sensors included on the moving body based on the corrected calculation information.

2. The calculation apparatus according to claim 1 , wherein the control unit is further configured to execute the one or more programs to:
calculate a second yaw rate of the moving body based on output of an angular speed sensor mounted on the moving body and the corrected calculation information;
calculate a third yaw rate of the moving body based on a steering angle of the moving body, a speed of the moving body and the calculation information; and
calculate the estimated yaw rate based on the second yaw rate and the third yaw rate.

3. The calculation apparatus according to claim 2 ,
wherein the control unit is further configured to execute the one or more programs to correct, on a basis of the measured yaw angle and the speed of the moving body, each of first conversion information and second conversion information as the calculation information, the measured yaw angle being obtained from the information associated with surroundings of the moving body, the first conversion information used to calculate the second yaw rate, the second conversion information being used to calculate the third yaw rate.

4. The calculation apparatus according to claim 2 ,
wherein the control unit is further configured to execute the one or more programs to determine weights, which are used for calculating the estimated yaw rate, on the second yaw rate and on the third yaw rate on a basis of at least one of
temperature variation amount,
variation amount of lateral acceleration of the moving body, and
variation amount of roll angle of the moving body,

which are calculated from the first processing time of correcting the calculation information.

5. The calculation apparatus according to claim 4 ,
wherein the control unit is further configured to execute the one or more programs to determine the weights on the second yaw rate and on the third yaw rate on a basis of
at least one of variation amount of longitudinal acceleration of the moving body and variation amount of a pitch angle of the moving body which are calculated from the first processing time of correcting the calculation information
in addition to the temperature variation amount, the variation amount of the lateral acceleration and the variation amount of the roll angle.

6. A control method executed by a calculation apparatus, comprising:
measuring a yaw angle for a first processing time;
determining the measured yaw angle as an estimated yaw angle for the first processing time;
calculating a measured yaw rate from the estimated yaw angle;
correcting, on a basis of the measured yaw rate and a speed of a moving body for the first processing time, calculation information to be used for calculation of an estimated yaw rate in a case that a measured yaw angle, for a second processing time subsequent to the first processing time, is not obtained;
calculating the estimated yaw rate for the second processing time based on the speed of the moving body and the corrected calculation information from the first processing time during which the measured yaw angle was obtained; and
calibrating output of one or more sensors included on the moving body based on the corrected calculation information.

7. A non-transitory computer readable medium including instructions executed by a computer, the instructions comprising:
measuring a yaw angle for a first processing time;
determining the measured yaw angle as an estimated yaw angle for the first processing time;
calculating a measured yaw rate from the estimated yaw angle;
correcting, on a basis of the measured yaw rate and a speed of a moving body for the first processing time, calculation information to be used for calculation of an estimated yaw rate in a case that a measured yaw angle, for a second processing time subsequent to the first processing time, is not obtained;
calculating the estimated yaw rate for the second processing time based on the speed of the moving body and the corrected calculation information from the first processing time during which the measured yaw angle was obtained; and
calibrating output of one or more sensors included on the moving body based on the corrected calculation information.

Assignees

• Pioneer Corp

Inventors

• Kato Masahiro
• Niihara Ryoko

Classifications

• B60W2520/125

  Lateral acceleration · CPC title

• B60W40/114 Primary

  Yaw movement · CPC title

• B60W2555/20

  Ambient conditions, e.g. wind or rain · CPC title

• B60W2520/16

  Pitch · CPC title

• B60W2540/18

  Steering angle · CPC title