JP6400450B2 - 車速演算装置および車速演算方法 - Google Patents
車速演算装置および車速演算方法 Download PDFInfo
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- JP6400450B2 JP6400450B2 JP2014244918A JP2014244918A JP6400450B2 JP 6400450 B2 JP6400450 B2 JP 6400450B2 JP 2014244918 A JP2014244918 A JP 2014244918A JP 2014244918 A JP2014244918 A JP 2014244918A JP 6400450 B2 JP6400450 B2 JP 6400450B2
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- Prior art keywords
- vehicle speed
- vehicle
- speed
- acceleration
- error
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- 238000004364 calculation method Methods 0.000 title claims description 50
- 230000001133 acceleration Effects 0.000 claims description 53
- 238000000034 method Methods 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000002596 correlated effect Effects 0.000 description 1
- 238000000611 regression analysis Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/52—Determining velocity
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Mathematical Physics (AREA)
- Navigation (AREA)
Description
11…車速算出部
12…GPS速度算出部
13…加速度取得部
14…推定部
15…補正部
16…車輪速センサ
17…GPS受信装置
18…加速度センサ
21…車両
22…カーナビゲーション
Claims (5)
- 車両の車速パルス数に基づいて第1車速を算出する第1車速算出部と、
測位衛星から放送される測位信号に基づいて第2車速を算出する第2車速算出部と、
前記車両に設けられた加速度センサが検出した加速度を取得する加速度取得部と、
前記第1車速および前記第2車速の差分値と、前記加速度との相関関係から、速度誤差を推定する推定部と、
前記速度誤差により前記第1車速を補正する補正部と、を備える車速演算装置。 - 請求項1に記載の車速演算装置であって、
前記推定部は、前記差分値を前記第1車速で除したものを前記加速度の一次式で近似し、前記一次式の係数を推定することにより、前記速度誤差を推定する、車速演算装置。 - 請求項2に記載の車速演算装置であって、
前記推定部は、前記車両の走行中に前記一次式の係数の推定値を逐次更新する、車速演算装置。 - 請求項2または3に記載の車速演算装置であって、
前記推定部は、最小二乗法を用いて前記一次式の係数を推定する、車速演算装置。 - 車両の車速パルス数に基づいて第1車速を算出する工程と、
測位衛星から放送される測位信号に基づいて第2車速を算出する工程と、
前記車両に設けられた加速度センサが検出した加速度を取得する工程と、
前記第1車速および前記第2車速の差分値と、前記加速度との相関関係から、速度誤差を推定する工程と、
前記速度誤差により前記第1車速を補正する工程と、を備える車速演算方法。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014244918A JP6400450B2 (ja) | 2014-12-03 | 2014-12-03 | 車速演算装置および車速演算方法 |
US14/957,318 US9764737B2 (en) | 2014-12-03 | 2015-12-02 | Method and device for calculating vehicle speed |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014244918A JP6400450B2 (ja) | 2014-12-03 | 2014-12-03 | 車速演算装置および車速演算方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016109479A JP2016109479A (ja) | 2016-06-20 |
JP6400450B2 true JP6400450B2 (ja) | 2018-10-03 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2014244918A Expired - Fee Related JP6400450B2 (ja) | 2014-12-03 | 2014-12-03 | 車速演算装置および車速演算方法 |
Country Status (2)
Country | Link |
---|---|
US (1) | US9764737B2 (ja) |
JP (1) | JP6400450B2 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2016060219A (ja) * | 2014-09-12 | 2016-04-25 | アイシン精機株式会社 | 車両位置検出装置 |
CN107340407A (zh) * | 2017-05-25 | 2017-11-10 | 中国铁路总公司 | 列控***测速定位方案验证方法 |
US11051131B2 (en) * | 2018-12-12 | 2021-06-29 | Logic20/20 Inc. | System and method for efficient navigation, tracking, and collocating in an electronic communication network |
CN112874528B (zh) * | 2021-03-04 | 2022-07-12 | 深圳市轱辘车联数据技术有限公司 | 车速确定方法、车速确定装置、车载终端及存储介质 |
CN113246669A (zh) * | 2021-06-09 | 2021-08-13 | 宝能(广州)汽车研究院有限公司 | 胎压监测学习方法、装置、电子设备及存储介质 |
CN114179869A (zh) * | 2021-12-24 | 2022-03-15 | 交控科技股份有限公司 | 用于列车测速的方法、装置和列车 |
GB2618843A (en) * | 2022-05-20 | 2023-11-22 | Appy Risk Tech Limited | A method and system for generating a vehicle mileage |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2647342B2 (ja) | 1994-05-10 | 1997-08-27 | 住友電気工業株式会社 | 車両走行距離検出装置 |
US20110098882A1 (en) * | 2004-10-07 | 2011-04-28 | Sumitomo Rubber Industries, Ltd. | Vehicle speed estimation device, method and device for detecting decreased tire pressure using the same |
WO2007013216A1 (ja) | 2005-07-28 | 2007-02-01 | Pioneer Corporation | 方位算出装置、方位算出方法、方位算出プログラム、および記録媒体 |
US8095309B2 (en) * | 2007-06-05 | 2012-01-10 | GM Global Technology Operations LLC | GPS assisted vehicular longitudinal velocity determination |
WO2010001819A1 (ja) * | 2008-06-30 | 2010-01-07 | 日産自動車株式会社 | 路面摩擦係数推定装置及び路面摩擦係数推定方法 |
JP2010091454A (ja) * | 2008-10-09 | 2010-04-22 | Panasonic Corp | 車両走行速度測定装置 |
JP2012225841A (ja) * | 2011-04-21 | 2012-11-15 | Pioneer Electronic Corp | 補正装置、補正方法及び補正装置用プログラム |
JP5891120B2 (ja) * | 2012-06-22 | 2016-03-22 | パイオニア株式会社 | 速度算出装置、速度算出方法、速度算出プログラム、および記録媒体 |
-
2014
- 2014-12-03 JP JP2014244918A patent/JP6400450B2/ja not_active Expired - Fee Related
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2015
- 2015-12-02 US US14/957,318 patent/US9764737B2/en active Active
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Publication number | Publication date |
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US20160159354A1 (en) | 2016-06-09 |
US9764737B2 (en) | 2017-09-19 |
JP2016109479A (ja) | 2016-06-20 |
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