| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular position/attitude measuring apparatus which accurately measures the position/attitude of a vehicle. SOLUTION: A vehicular position/attitude measuring apparatus is configured to detect the position and attitude of a vehicle to steer front wheels. The apparatus comprises steering angle detection means (1) which detects a steering angle (θ), wheel speed detection means (2-5) which detects wheel speeds (P<SB POS="POST">Fl</SB>, P<SB POS="POST">Fr</SB>, P<SB POS="POST">Rl</SB>, P<SB POS="POST">Rr</SB>) of longitudinal and lateral four wheels of the vehicle, actual steering angle calculation means (6) which calculates an actual steering angle (δ<SB POS="POST">Fl</SB>,δ<SB POS="POST">Fr</SB>) on the basis of output from the steering angle detection means, tread/wheel radius estimation means (7) which calculates estimates (T<SP POS="POST"></SP><SB POS="POST">R</SB>, r<SP POS="POST"></SP><SB POS="POST">Rl</SB>, r<SP POS="POST"></SP><SB POS="POST">Rr</SB>) of a rear tread and a rear wheel radius on the basis of the actual steering angle and the wheel speed, and vehicular position/attitude calculation means (8) which calculates a position (x, y) and an attitude (γ) of the vehicle on the basis of the estimates and the wheel speed of the rear wheels, thereby measuring the position and the attitude of the vehicle with respect to any arbitrary inertia coordinate system. COPYRIGHT: (C)2013,JPO&INPIT |
