Locus estimation device and locus estimating method
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United States of America Patent
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Dec 6, 2016
Grant Date -
Sep 10, 2015
app pub date -
Jan 29, 2015
filing date -
Mar 6, 2014
priority date (Note) -
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Abstract
A processor of a locus estimation device accepts a measured value of a wheel speed of right and left front wheels of a moving object, and a measured value of a steering angle at which the traveling direction is changed. Based on a measured value of a wheel speed of the right and left front wheels, a measured value of a steering angle, a distance in the direction of the body of the moving object, a distance in the direction of the axle of the moving object, and a constant, the processor estimates an amount of rotation of the middle point of a rotation center of the right and left rear wheels on a circle having a center which is a point on a straight line passing through the rotation center of the right and left rear wheels, and an amount of translation of the middle point.
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