Direction change detection device, vehicle, direction change detection method, and storage medium
AssigneeToyota Jidosha Kabushiki Kaisha
InventorIsao Kobayashi
Life of this patent
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Abstract
An on-board unit as a direction change detection device is configured to acquire a steered angle and a mileage of a vehicle at a time point at which a right turn event related to a right turn of the vehicle occurs when the right turn event occurs, and detect the right turn on condition that a maximum value of the steered angle is equal to or less than a first threshold value, and the mileage is equal to or greater than a second threshold value.
Claims8
A direction change detection device comprising a processor, wherein the processor is configured to:
- acquire:
- a steered angle toward a specific direction, and
- a mileage of a vehicle in the specific direction at a time point at which an eventrelated to a direction change of the vehicle occurs;
- and
- determine that the vehicle changed direction to the specific direction in response to:
- a maximum value of the steered angle being equal to or less than a first threshold value, and
- the mileage being equal to or greater than a second threshold value;
- exclude from the determination that the vehicle changed direction a case where the milage is less than the second threshold value;
- acquire a yaw angle of the vehicle from the time point;
- identify a U-turn in response to a determination that the yaw angle exceeds a third threshold value;
- exclude a case of the U-turn from the determination that the vehicle changed direction to the specific direction;
- and
- control the steering angle of the vehicle toward the specific direction during acquiring of the steered angle.
A direction change detection method in which a computer executes processes comprising:
- acquiring:
- a steered angle toward a specific direction, and
- a mileage of a vehicle in the specific direction at a time point at which an eventrelated to a direction change of the vehicle occurs;
- and
- determining that the vehicle changed direction to the specific direction in response to:
- a maximum value of the steered angle being equal to or less than a first threshold value, and
- the mileage being equal to or greater than a second threshold value;
- and
- excluding from the determination that the vehicle changed direction a case where the milage is less than the second threshold value;
- acquiring a yaw angle of the vehicle from the time point;
- identifying a U-turn in response to a determination that the yaw angle exceeds a third threshold value;
- excluding a case of the U-turn from the determination that the vehicle changed direction to the specific direction;
- and
- controlling the steering angle of the vehicle toward the specific direction during acquiring of the steered angle.
A non-transitory storage medium storing a program that causes a computer to execute processes comprising:
- acquiring:
- a steered angle toward a specific direction, and
- a mileage of a vehicle in the specific direction at a time point at which an event related to a direction change of the vehicle occurs;
- and
- determining that the vehicle changed direction to the specific direction in response to:
- a maximum value of the steered angle being equal to or less than a first threshold value, and
- the mileage being equal to or greater than a second threshold value;
- and
- excluding from the determination that the vehicle changed direction a case where the milage is less than the second threshold value;
- acquiring a yaw angle of the vehicle from the time point;
- identifying a U-turn in response to a determination that the yaw angle exceeds a third threshold value;
- excluding a case of the U-turn from the determination that the vehicle changed direction to the specific direction;
- and
- controlling the steering angle of the vehicle toward the specific direction during acquiring of the steered angle.
Dependencies are inferred from the claim text.