Vehicle travel direction estimating device

Claim 2

A vehicle travel direction estimating device for repeatedly estimating a travel direction of a vehicle, comprising: wheel speed calculation means for measuring a rotational velocity of a wheel of said vehicle and for producing an absolute value of said rotational velocity as a wheel speed of said wheel during each repeated estimating; estimated vehicle acceleration calculation means for calculating an estimated vehicle acceleration Aw as a function of said wheel speed; gravity-type accelerometer for producing a gravitationally detected acceleration Am; first differentiating means for differentiating said gravitationally detected acceleration Am and for producing a first differential value Dam; second differentiating means for differentiating said estimated vehicle acceleration Aw and for producing a second differential value Daw; detection means for detecting said travel direction of said vehicle based on said first and second differential values Dam and Daw; and means for controlling a braking of said vehicle in response to said detected travel direction of said vehicle.

Claim 3

A vehicle travel direction estimating device according to claim 1, wherein said detection means detects said direction of travel to be a forward direction when signs of said first and second differential values are the same, and to be a reverse direction when said signs of said first and second differential values differ.

Claim 4

A vehicle travel direction estimating device according to claim 2, wherein said detection means comprises means for obtaining a certainty value Z, an absolute value of said value Z representing a certainty of a determination and a sign of said value Z representing said vehicle travel direction, said certainty value Z being obtained from a contour line on a map of which vertical and horizontal axes represent said first and second differential values Dam and Daw, respectively.

Claim 5

A vehicle travel direction estimating device according to claim 2, wherein said detection means comprises means for obtaining a certainty value Z, an absolute value of said value Z representing a certainty of a determination and a sign of said value Z representing said vehicle travel direction, said certainty value Z being obtained at each repeated estimation of said travel direction of said vehicle, and filtering means for producing a smoothed certainty value Zf by exponentially filtering said value Z.

Claim 6

A vehicle travel direction estimating device according to claim 1, further comprising: means for producing an adjustment speed kf assuming a forward direction of travel and for producing an adjustment speed kb assuming a reverse direction of travel; means for producing, assuming a forward direction of travel, a corrected acceleration Acf based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Aof; means for producing, assuming a forward direction of travel, said correction amount Aof in a current estimation of said travel direction of said vehicle in which a previously produced correction amount Aof obtained in a previous estimation of said travel direction of said vehicle is adjusted as a function of a value which is a difference between said corrected acceleration Acf and said estimated vehicle acceleration Aw modified by said adjustment speed kf; means for producing, assuming a reverse direction of travel, a corrected acceleration Acb based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Aob; means for producing, assuming a reverse direction of travel, said correction amount Aob in said current estimation of said vehicle travel direction in which a previously produced correction amount Aob obtained in said previous estimation of said vehicle travel direction is adjusted as a function of a value which is a difference between said corrected acceleration Acb and said estimated vehicle acceleration Aw modified by said adjustment speed kb; and means for selecting one of said corrected accelerations Acf and Acb according to said vehicle travel direction detected by said detection means.

Claim 7

A vehicle travel direction estimating device according to claim 1, further comprising: means for producing an adjustment speed k assuming a direction of travel detected by said detection means; means for producing, assuming a forward direction of travel when a forward direction is detected by said detection means, a correcting acceleration Ac based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Ao; means for producing, assuming a forward direction of travel when a forward direction is detected by said detection means, said correction amount Ao in a current estimation of said vehicle travel direction in which said correction amount Ao obtained in a previous estimation of said vehicle travel direction is adjusted as a function of a value which is a difference between said corrected acceleration Ac and said estimated vehicle acceleration Aw modified by said adjustment speed k; means for producing, assuming a reverse direction of travel when a reverse direction is detected by said detection means, a corrected acceleration Ac based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Ao; and means for producing, assuming a reverse direction of travel when a reverse direction is detected by said detection means, said correction amount Ao in the current estimation of said vehicle travel direction in which said correction amount Ao obtained in said previous estimation of said vehicle travel direction is adjusted as a function of a value which is a difference between said corrected acceleration Ac and said estimated vehicle acceleration Aw modified by said adjustment speed k.

Claim 8

A vehicle travel direction estimating device for repeatedly estimating a travel direction of a vehicle, comprising: wheel speed calculation means for measuring a rotational velocity of a wheel of said vehicle and for producing an absolute value of said rotational velocity as a wheel speed of said wheel during each repeated estimation of said vehicle travel direction; estimated vehicle acceleration calculation means for calculating an estimated vehicle acceleration Aw as a function of said wheel speed; gravity-type accelerometer for producing a gravitationally detected acceleration Am; first differentiating means for differentiating said gravitationally detected acceleration Am and for producing a first differential value Dam; second differentiating means for differentiating said estimated vehicle acceleration Aw and for producing a second differential value Daw; and detection means for detecting said travel direction of said vehicle based on said first and second differential values Dam and Daw, said detection means further comprising: means for fixing said detected vehicle travel direction until said vehicle stops moving, when a level of certainty of detection reaches a predetermined level; and means for clearing said fixed detected vehicle travel direction when said vehicle restarts moving after being stopped and for resuming said detection from a cleared state.

Claim 9

A vehicle travel direction estimating device for repeatedly estimating a travel direction of a vehicle, comprising: wheel speed calculation means for measuring a rotational velocity of a wheel of said vehicle and for producing an absolute value of said rotational velocity as a wheel speed of said wheel during each repeated estimation of said vehicle travel direction; estimated vehicle acceleration calculation means for calculating an estimated vehicle acceleration Aw as a function of said wheel speed; gravity-type accelerometer for producing a gravitationally detected acceleration Am; first differentiating means for differentiating said gravitationally detected acceleration Am and for producing a first differential value Dam; second differentiating means for differentiating said estimated vehicle acceleration Aw and for producing a second differential value Daw; and detection means for detecting said travel direction of said vehicle based on said first and second differential values Dam and Daw, said detection means further comprising: means for fixing said detected vehicle travel direction until said vehicle stops moving, when a level of certainty of detection reaches a predetermined level; and means for clearing said fixed detected vehicle travel direction when said vehicle restarts moving after being stopped and for resuming said detection from a cleared state.

Claim 12

The system according to claim 8, said determining means comprising: means for measuring a speed of said vehicle as a function of said rotational speed of said at least one wheel of said vehicle; and means for estimating said acceleration of said vehicle as a function of said measured speed and for producing said estimated acceleration signal.

Claim 13

The system according to claim 8, said detection means comprising means for determining that said vehicle is traveling in a forward direction when polarities of said first and second differential values are the same, and that said vehicle is traveling in a reverse direction when said polarities of said first and second differential values are different.

Claim 14

The system according to claim 10, said apparatus further comprising means for estimating a certainty of the determination made by the determining means as a function of the magnitudes of the respective first and second differential values.

Claim 15

The system according to claim 11, said apparatus further comprising means for assigning a numerical value representative of both the determined direction of travel and the estimated certainty of the determination made by the determining means.

Claim 16

The system according to claim 12, wherein said numerical value comprises a real number, the polarity of the real number representing the determined direction of travel and the magnitude of the real number representing the estimated certainty of the determination made by the determining means.

Claim 17

The system according to claim 13, wherein said real number comprises an integer value.

Claim 18

The system according to claim 13, said apparatus further comprising means for smoothing the estimated certainty value.

Claim 19

The system according to claim 15, wherein said smoothing means comprises means for exponentially filtering the estimated certainty value.

Claim 20

The system according to claim 11, said apparatus further comprising means for adjusting a zero point of said independent acceleration signal producing means as a function of the determined travel direction of the vehicle.

Claim 21

The system according to claim 13, said apparatus further comprising: means for producing a fixed indication of said direction of travel of said vehicle when the level of certainty of the detection reaches a predetermined level; and means for clearing said indication when the vehicle stops.

Claim 22

The system according to claim 8, wherein said independent acceleration signal producing means comprises a gravity-type accelerometer and said independent acceleration signal comprises a gravitationally detected acceleration signal.

Claim 23

The system according to claim 9, wherein said speed measuring means comprises a plurality of wheel speed sensors for producing signals corresponding to respective wheels of the vehicle.

Claim 26

A process having a method for estimating a travel direction of a vehicle which having a plurality of wheels, the method comprising: determining an estimated acceleration signal representative of an acceleration of the vehicle as a function of a rotational speed of at least one wheel of the vehicle; producing an independent acceleration signal which is representative of the acceleration of the vehicle, by determining the independent acceleration signal independently of the speed of the at least one wheel of the vehicle; differentiating the independent acceleration signal and producing a first differential value; differentiating the estimated acceleration signal and producing a second differential value; detecting the direction of vehicle travel based on the first and second differential values; and controlling a braking of the vehicle in response to the detected vehicle direction.

Claim 27

A process having a method for estimating a travel direction of a vehicle which having a plurality of wheels, the method comprising: determining an estimated acceleration signal representative of an acceleration of the vehicle as a function of a rotational speed of at least one wheel of the vehicle; producing an independent acceleration signal which is representative of the acceleration of the vehicle, by determining the independent acceleration signal independently of the speed of the at least one wheel of the vehicle; differentiating the independent acceleration signal and producing a first differential value; differentiating the estimated acceleration signal and producing a second differential value; detecting the direction of vehicle travel based on the first and second differential values; and controlling a braking of the vehicle in response to the detected vehicle direction.

Claim 28

The process according to claim 22, said step of determining comprising: measuring a speed of the vehicle as a function of the rotational speed of the at least one wheel of the vehicle; and estimating the acceleration of the vehicle as a function of the measured speed and producing the estimated acceleration signal.

Claim 29

The process according to claim 22, said detecting step comprising determining that the vehicle is traveling in a forward direction when the polarities of the first and second differential values are the same, and that the vehicle is traveling in a reverse direction when the polarities of the first and second differential values are different.

Claim 30

The process according to claim 24, said method further comprising estimating the certainty of the determination made in the determining step as a function of the magnitudes of the respective first and second differential values.

Claim 31

The process according to claim 25, said method further comprising assigning a numerical value representative of both the determined direction of travel and the estimated certainty of the determination made by the determining step.

Claim 32

The process according to claim 26, wherein said numerical value comprises a real number, the polarity of the real number representing the determined direction of travel and the magnitude of the real number representing the estimated certainty of the determination made by the determining step.

Claim 33

The process according to claim 27, wherein said real number comprises an integer value.

Claim 34

The process according to claim 27, said method further comprising smoothing the estimated certainty value.

Claim 35

The process according to claim 29, wherein said smoothing step comprises exponentially filtering the estimated certainty value.

Claim 36

The process according to claim 25, said method further comprising adjusting a zero point of an independent acceleration signal production device as a function of the determined travel direction of the vehicle.

Claim 37

The process according to claim 27, said method further comprising: producing a fixed indication of said direction of travel of said vehicle when the level of certainty of the detection step reaches a predetermined level; and clearing said indication when the vehicle stops.

Claim 38

The process according to claim 22, wherein said independent acceleration signal producing step comprises producing a gravitationally detected acceleration signal with a gravity-type accelerometer.

Claim 39

The process according to claim 23, wherein said speed measuring step comprises producing a plurality of signals with a plurality of wheel speed sensors, said signals corresponding to respective wheels of the vehicle.