著者

小山 陸 毛利 宏 風間 恵介 塩澤 裕樹 今村 政道 柏村 聡

出版者

公益社団法人 自動車技術会

雑誌

自動車技術会論文集 (ISSN:02878321)

巻号頁・発行日

vol.51, no.5, pp.785-788, 2020 (Released:2020-08-28)

参考文献数

5

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車体スリップ角推定手法を新たに提案する.本手法では車体前後方向,及び横方向の加速度センサ信号に加え車輪速センサ信号を用いる.提案手法では積分器を必要とせず,信号の代数演算のみで車体スリップ角の推定が可能である.実車実験で取得した信号を用いて,提案手法が従来手法に比べて正しく推定出来ることを示した.

著者

風間 恵介 川勝 俊輝 赤木 康宏 毛利 宏

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

vol.83, no.849, pp.17-00014-17-00014, 2017 (Released:2017-05-25)

参考文献数

17

被引用文献数

2

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This paper describes the development of a new localization method using a simple 2D map. The general method for localization using a 2D map is to match between the boundary line on the 2D map and the detected boundaries in the real world, i.e. lane markers, walls of building, or curbs. It is necessary to create a differential process in order to detect boundary lines of the road. If these methods try to detect small changes, the false-detection rate increases due to enhanced noises; if they try to reduce the effect of noise, boundary lines are misdetected. The estimation result of this method deteriorates drastically if the false-detection or misdetection of the boundary line occurs. We propose the new localization method based on the road area detection. First, the road map is extracted from the boundary lines on a 2D map. Next, the road plane image is made by the road area detected using LiDAR in the real world. Finally, the road map and the road plane image are matched by image registration. We confirmed that the proposed method have accurate estimation performance with several noise and low-cost calculation from the simulation. And we conducted the performance validation of proposed method in the real world. As a result, we confirmed the same tendency as simulation results.