公开(公告)号：US10732299B2

公开(公告)日：2020-08-04

申请号：US15110048

申请日：2014-12-16

Applicant: DENSO CORPORATION

Inventor： Seigou Kumabe ,  Kojiro Takeyama ,  Yoshiko Kojima

IPC: G01S19/52 ,  G01S19/49

Abstract: A velocity estimation device including an acceleration sensor and a yaw rate sensor is provided. The velocity estimation device determines an initial velocity value of a mobile object based on a velocity estimation expression, an integrated value of acceleration detected by the acceleration sensor, and a relative azimuth calculated from detected yaw rates. The velocity estimation device estimates the velocity of the mobile object based on the initial velocity value and the integrated value of acceleration. In the velocity estimation expression, a magnitude of the velocity vector is constrained by the velocity of the mobile object and a time variation of a direction of the velocity vector is constrained by a time variation of the azimuth of the mobile object in the traveling direction.

公开(公告)号：US10365109B2

公开(公告)日：2019-07-30

申请号：US15313596

申请日：2015-05-25

Applicant: DENSO CORPORATION

Inventor： Seigou Kumabe ,  Kojiro Takeyama ,  Yoshiko Kojima

IPC: G01C21/04 ,  G01C21/16 ,  G01C22/00 ,  G01C22/02 ,  G01S19/40 ,  G01S19/49 ,  G01S19/51 ,  G01S19/39 ,  G01S19/42 ,  G01S19/45 ,  G01S19/48 ,  G01C21/10 ,  G01C21/12 ,  G01C21/14 ,  G01S19/38

Abstract: A travel distance estimation device is provided. The travel distance estimation device includes an estimated velocity determination unit that successively estimates an estimated velocity of a movable object based on an acceleration integrated value and a velocity initial value a travel distance calculation unit that successively calculates an estimated travel distance of the movable object based on the estimated velocity, and a past velocity correction unit that determines corrected past velocities by correcting pre-correction past estimated velocities so that the corrected past velocities are continuous with the velocity initial value determined this time. The pre-corrected past estimated velocities are the estimated velocities that were successively determined. The travel distance estimation device further includes a travel distance correction unit that recalculates based on the corrected past velocities an estimated travel distance.