Vehicle control device
Provided is a vehicle control device capable of suppressing a yaw angle error at startup due to an initial phase shift of pulse waveforms of right and left wheels at the startup and precisely estimating a vehicle position. A yaw angle displacement amount of the vehicle is corrected in the direction of reducing an error in the yaw angle displacement amount at the estimation start point with respect to a reference direction in which the vehicle is to travel depending on output of a pulse waveform of a wheel speed sensor provided in right and left non-steering wheels of the vehicle immediately after the startup. Specifically, a range of an estimation error in a traveling direction at the startup is limited by two steps of correction at the startup.
1. A vehicle control device, comprising:
at least one processor configured to:
calculate a yaw angle displacement amount and a travel distance of a vehicle from a wheel speed pulse count counted from a pulse waveform generated by a wheel speed sensor provided in right and left non-steering wheels of the vehicle;
a detector configured to detect a forward and backward traveling direction of the vehicle; and
an output configured to output a relative position and a relative direction of the vehicle from an estimation start state,
the at least one processor configured to estimate a vehicle position of the vehicle on a basis of the yaw angle displacement amount, the travel distance, and the forward and backward traveling direction of the vehicle, wherein
the at least one processor configured to correct the yaw angle displacement amount of the vehicle in a direction of reducing an error in the yaw angle displacement amount at an estimation start point with respect to a reference direction in which the vehicle is to travel depending on output of the pulse waveform from the wheel speed sensor provided in the right and left non-steering wheels of the vehicle immediately after a startup, wherein
a yaw angle change based on a first one pulse of the vehicle at the startup is stored for each startup, and abnormality of the wheel speed sensor is determined in a case where an occurrence probability in a direction of the yaw angle change is different on right and left sides.
2. The vehicle control device according to claim 1 , wherein
the yaw angle displacement amount of the vehicle is reduced by an amount corresponding to the yaw angle change based on the first one pulse of the vehicle at the startup to correct the yaw angle displacement amount.
3. The vehicle control device according to claim 1 , wherein
in a case where abnormality of the wheel speed sensor is determined, a wheel speed pulse count counted from a pulse waveform generated by, as an alternative of the wheel speed sensor provided in the right and left non-steering wheels, a wheel speed sensor provided in right and left steering wheels of the vehicle is used.
4. The vehicle control device according to claim 1 , wherein
the yaw angle displacement amount of the vehicle is reduced by an amount corresponding to a yaw angle with respect to the reference direction at a time of first right or left simultaneous pulse detection after the startup of the vehicle to correct the yaw angle displacement amount.
5. The vehicle control device according to claim 1 , wherein
a range in which the yaw angle displacement amount of the vehicle is corrected is limited to a range in which the travel distance of the vehicle from the estimation start point is within a predetermined distance.
6. The vehicle control device according to claim 5 , wherein
the predetermined distance is set to a distance at which a probability that a correction direction of the yaw angle displacement amount of the vehicle and a steering direction of the vehicle do not match falls within a predetermined probability.
7. The vehicle control device according to claim 6 , wherein
in a case where the distance is equal to or less than a predetermined threshold value, correction of the yaw angle displacement amount of the vehicle is restricted.
8. A vehicle control device, comprising:
at least one processor configured to:
calculate a yaw angle displacement amount and a travel distance of a vehicle from a wheel speed pulse count counted from a pulse waveform generated by a wheel speed sensor provided in right and left non-steering wheels of the vehicle;
a detector configured to detect a forward and backward traveling direction of the vehicle; and
an output configured to output a relative position and a relative direction of the vehicle from an estimation start state,
the at least one processor configured to estimate a vehicle position of the vehicle on a basis of the yaw angle displacement amount, the travel distance, and the forward and backward traveling direction of the vehicle,
wherein the at least one processor configured to correct the yaw angle displacement amount of the vehicle in a direction of reducing an error in the yaw angle displacement amount at an estimation start point with respect to a reference direction in which the vehicle is to travel depending on output of the pulse waveform from the wheel speed sensor provided in the right and left non-steering wheels of the vehicle immediately after a startup,
wherein the yaw angle displacement amount of the vehicle is reduced by an amount corresponding to a yaw angle change based on a first one pulse of the vehicle at the startup to correct the yaw angle displacement amount, and
wherein the yaw angle displacement amount of the vehicle is reduced by one-half of the yaw angle change based on the first one pulse of the vehicle at the startup to correct the yaw angle displacement amount.
9. A vehicle control device, comprising:
at least one processor configured to:
calculate a yaw angle displacement amount and a travel distance of a vehicle from a wheel speed pulse count counted from a pulse waveform generated by a wheel speed sensor provided in right and left non-steering wheels of the vehicle;
a detector configured to detect a forward and backward traveling direction of the vehicle; and
an output configured to output a relative position and a relative direction of the vehicle from an estimation start state,
the at least one processor configured to estimate a vehicle position of the vehicle on a basis of the yaw angle displacement amount, the travel distance, and the forward and backward traveling direction of the vehicle,
wherein the at least one processor configured to correct the yaw angle displacement amount of the vehicle in a direction of reducing an error in the yaw angle displacement amount at an estimation start point with respect to a reference direction in which the vehicle is to travel depending on output of the pulse waveform from the wheel speed sensor provided in the right and left non-steering wheels of the vehicle immediately after a startup,
wherein the yaw angle displacement amount of the vehicle is reduced by an amount corresponding to a yaw angle with respect to the reference direction at a time of first right and or left simultaneous pulse detection after the startup of the vehicle to correct the yaw angle displacement amount, and
wherein the yaw angle displacement amount of the vehicle is reduced by one-half of the yaw angle with respect to the reference direction at the time of first right and left simultaneous pulse detection after the startup of the vehicle to correct the yaw angle displacement amount.