The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 18, 2022
Filed:
Feb. 15, 2019
Hitachi Automotive Systems, Ltd., Hitachinaka, JP;
Tomoyasu Sakaguchi, Hitachinaka, JP;
Takashi Tsutsui, Hitachinaka, JP;
Yoshiyuki Yoshida, Hitachinaka, JP;
HITACHI ASTEMO, LTD., Hitachinaka, JP;
Abstract
Provided is a vehicle control device capable of accurately estimating a self-vehicle location with a yaw angle error occurring when a vehicle starts to travel due to an initial phase shift between pulsed waveforms of left and right wheels when the vehicle starts to travel suppressed. The vehicle control device further estimates a direction of wheel rotation while the vehicle is at a stop. A yaw angle deviation when the vehicle starts to travel is estimated and corrected on the basis of a weighted average of discrete yaw angle values obtained immediately after the vehicle starts to travel from wheel speed sensors installed on left and right non-steered wheels of the vehicle. A yaw angle while the vehicle is at a stop and a yaw angle when the vehicle starts to travel are also estimated, and the direction of wheel rotation while the vehicle is at a stop is also estimated from a difference between the yaw angles. The yaw angle and coordinates are corrected on the basis of the estimation result.