JPH09292237A - Quantity-of-state estimation device for running vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To estimate the quantity of state of a vehicle by providing a vehicle position estimation means estimating the yaw angle and the lateral position of a running vehicle against a traffic lane, based on the distances and the azimuth angles in the lane direction of the running vehicle against two radio wave sources selected from a plurality of radio wave sources. SOLUTION: A running vehicle 3 is provided with a CPU(central processing unit) 5, it is also provided with a detecting part 7 detecting radio wave from respective radio wave sources 1, 2 provided on a road, and a vehicle speed pulse detecting part 9 so as to input to the CPU 5. A running distance computing part 11 receives the signal from the vehicle speed pulse detecting part 9 and computes the running distance of the vehicle 3. A radio wave azimuth estimation part 13 receives the signal from the radio wave detecting part 7 and computes azimuth angles of a body axis perpendicular to the axle of the vehicle 3 against the directions of the first radio wave source A and the second radio wave source B. A quantity of state computing part 15 estimates distances in the lane direction up to the radio wave sources A, B, and as a vehicle position estimation means, it estimates the yaw angle, the lateral position, the longitudinal position of the vehicle 3 against the lane, based on the distances in the lane direction and the azimuth angles against the radio wave sources A, B.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a state quantity estimating device for a traveling vehicle, which estimates a yaw angle, a lateral position, and a front-rear position with respect to a lane on a road of the traveling vehicle.

[0002]

2. Description of the Related Art As a conventional vehicle state estimation device, for example, a device for measuring based on an image (first conventional example, Japanese Patent Laid-Open No. 3-139706 "Vehicle condition quantity measuring device"), a device using a magnetic nail ( Second conventional example, American "PATH"
Plan), a device using radio waves (third conventional example, Japanese Patent Application No. 4-2)
67160 "moving body traveling direction measuring device").

First, in the first conventional example, a guide line (for example, a white line) arranged along a road is photographed by a camera, and a vehicle state quantity such as a lateral position and a yaw angle of the traveling vehicle with respect to the guide line is taken from the photographed image. It is something to measure.

In the second conventional example, a magnetic nail embedded along a guide line on a road surface is detected by a magnetic sensor of a vehicle,
The vehicle state quantity such as the lateral position of the traveling vehicle with respect to the guide line is measured.

In the third conventional example, means for receiving radio waves transmitted from two radio wave sources having different frequencies to detect the direction of each radio wave source, and the coordinates of the traveling vehicle with respect to the radio wave source are GPS.
And estimating the state quantity for the guide line from the azimuth and coordinates for the two radio wave sources.

[0006]

However, each of the above devices has the following problems.

In the first conventional example, since it is based on the image taken by the camera, the reliability of the estimated value of the vehicle state quantity such as the yaw angle may decrease if the road recognition is deteriorated due to rain or backlight. There is.

In the second conventional example, since the performance of the magnetic sensor cannot be improved due to the restriction of the clearance between the vehicle body and the road surface, the vehicle lateral position detection range is narrow, which causes an error in the distance calculation due to the skip of magnetic nail reading. There is a fear.

In the third conventional example, unlike an aircraft, an autonomous vehicle requires high accuracy in estimating coordinates,
The conventional GPS cannot cope with it, or the GPS with high accuracy is forced to be used, which causes a problem of cost increase.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a state quantity estimating device for a traveling vehicle which is inexpensive and can accurately estimate the state quantity of a vehicle.

[0011]

In order to solve the above-mentioned problems, the invention according to claim 1 provides a plurality of radio wave sources provided along a road, the frequency and the installation interval of which are determined, and the traveling distance of a traveling vehicle. Distance calculating means for calculating, radio wave azimuth estimating means for calculating an azimuth angle of each radio wave emitted from the plurality of radio wave sources with respect to a vehicle body axis orthogonal to the axle of the traveling vehicle with the front of the vehicle body as zero degrees, and the plurality of radio waves Two radio wave sources are selected from the sources, and the distance in the lane direction along the road from the traveling vehicle to the two selected radio wave sources is determined by the change of the radio wave direction of the selected radio wave source and the mutual radio wave source. Distance estimating means for estimating from the distance and the traveling distance of the traveling vehicle,
Vehicle position estimating means for estimating a yaw angle and a lateral position of the traveling vehicle with respect to the lane based on a distance and an azimuth angle of the traveling vehicle with respect to the selected two radio wave sources in the lane direction.

Therefore, the traveling distance of the traveling vehicle can be calculated by the distance calculating means. The azimuth angle of each radio wave emitted from a plurality of radio wave sources with respect to the vehicle body axis of the traveling vehicle can be calculated by the radio wave azimuth estimating means. The distance in the lane direction along the road from the traveling vehicle to the two selected radio sources can be estimated by the distance estimating means from the mutual distance between the selected radio sources and the traveling distance of the traveling vehicle. Then, the yaw angle and the lateral position of the traveling vehicle with respect to the lane can be estimated by the vehicle position estimating means based on the distance and the azimuth angle of the traveling vehicle with respect to the two selected radio wave sources in the lane direction.

According to a second aspect of the invention, there is provided the state quantity estimating device for a traveling vehicle according to the first aspect, wherein the distance estimating means comprises:
When the absolute value of the azimuth angle of a certain radio wave source becomes π / 2, it is set as the first radio wave source, its lane direction distance is set to zero, and thereafter, the distance to the first radio wave source is estimated from the traveling distance, At the moment when the first radio wave source is selected (azimuth absolute value = π / 2), the maximum azimuth absolute value less than π / 2 is the second radio wave source,
From the distance between the radio wave sources and the distance in the lane direction of the first radio wave source, the second
It is characterized in that the distance between the radio wave source and the traveling vehicle in the lane direction is estimated.

Therefore, in addition to the operation of the first aspect of the invention, the distance estimating means has an azimuth angle of π /
When it becomes 2, the radio wave source can be surely selected as the first radio wave source, and the radio wave source less than the same π / 2 as the second radio wave source can be surely selected as the second radio wave source. . This is because, when the radio wave source intervals are equal, the two radio wave sources have the largest difference in direction.

According to a third aspect of the invention, there is provided the state quantity estimating device for a traveling vehicle according to the first aspect, wherein the distance estimating means comprises:
When the absolute value of the azimuth angle of a certain radio wave source becomes π / 2, it is set as the first radio wave source, its lane direction distance is set to zero, and thereafter, the distance to the first radio wave source is estimated from the traveling distance, Also the first
A specific relationship is set in advance between the frequencies of the radio wave source and the second radio wave source, the second radio wave source is selected accordingly, and the second radio wave source is determined from the distance between the radio wave sources and the lane distance of the first radio wave source. It is characterized in that the distance in the lane direction of the traveling vehicle is estimated.

Therefore, in addition to the operation of the first aspect of the invention, the distance estimating means has an azimuth angle of π /
When it becomes 2, the radio wave source can be used as the first radio wave source, and the second radio wave source that is apart from the first radio wave source by a known distance from the specific relationship of the frequency can be more reliably specified. .

According to a fourth aspect of the invention, a plurality of radio wave sources provided along the road, the frequency and the installation interval of which are determined, distance calculation means for calculating the travel distance of the traveling vehicle, and the road of the traveling vehicle. Lateral position measuring means for measuring the lateral position with respect to the lane along the radio wave, and radio wave direction estimating means for calculating the azimuth angle between the direction of each radio wave transmitted from the plurality of radio wave sources and the vehicle body axis orthogonal to the axle of the traveling vehicle. And a distance estimating means for selecting one radio wave source from the plurality of radio wave sources and estimating the distance in the lane direction from the traveling vehicle to the selected radio wave source from the traveling distance of the traveling vehicle, And a vehicle position estimating means for estimating a yaw angle of the traveling vehicle with respect to the lane based on the distance in the lane direction of the traveling vehicle with respect to the generated radio wave source and the azimuth angle and the lateral position.

Therefore, the traveling distance of the traveling vehicle can be calculated by the distance calculating means. The lateral position of the traveling vehicle with respect to the lane along the road can be measured by the lateral position measuring means. The azimuth angle of each radio wave emitted from a plurality of radio wave sources with respect to the vehicle body axis of the traveling vehicle can be calculated by the radio wave azimuth estimating means. The distance in the lane direction from the traveling vehicle to one selected radio wave source can be estimated by the distance estimating means from the traveling distance of the traveling vehicle.
Then, the vehicle position estimating means can estimate the yaw angle of the traveling vehicle with respect to the lane based on the distance, the azimuth angle, and the lateral position of the traveling vehicle with respect to the selected radio wave source in the lane direction.

According to a fifth aspect of the present invention, there is provided the traveling vehicle state quantity estimating device according to the fourth aspect, wherein the distance estimating means comprises:
The absolute value of the azimuth angle of a certain radio wave source with respect to the vehicle body axis is π / 2
The feature is that the moment it becomes, it is selected as the radio wave source.

Therefore, in addition to the operation of the invention of claim 4, the distance estimating means can select one radio wave source having an azimuth angle of π / 2 with respect to the vehicle body axis.

[0021]

According to the first aspect of the present invention, since the image by the camera is not used, the reliability of the estimated value of the vehicle state quantity such as the yaw angle is improved without being affected by rain or backlight. In addition, since radio waves are used, accurate estimation can be performed without skipping over reading as with a magnetic sensor. Further, although the state quantity is estimated using radio waves, it is possible to reduce the cost without requiring a highly accurate GPS. In addition, there are two radio wave sources to be selected. For this radio wave source, the traveling distance of the traveling vehicle is used to specify the positional relationship between the traveling vehicle and the selected radio wave source, and the yaw angle is calculated using the calculated azimuth angle. For example, since the amount of information is small, it can be estimated accurately and quickly.

According to the second aspect of the invention, in addition to the effect of the first aspect of the invention, two radio wave sources are selected according to the azimuth angle with respect to the vehicle body axis, so that the radio wave sources can be selected accurately and quickly.

According to the invention of claim 3, in addition to the effect of the invention of claim 1, two radio wave sources can be selected from the specific relationship of the azimuth angle and frequency, and the selection of the radio wave source is performed accurately and speedily. be able to.

According to a fourth aspect of the present invention, the calculation of the traveling distance of the vehicle, the measurement of the lateral position with respect to the lane, the calculation of the azimuth angle,
The yaw angle and the like can be estimated by selecting one radio wave source, and can be estimated easily, quickly and accurately.

According to the invention of claim 5, in addition to the effect of the invention of claim 4, the radio wave source can be selected according to the azimuth angle, and the selection of the radio wave source can be performed accurately and quickly.

[0026]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below.

(First Embodiment) FIG. 1 is a schematic block diagram of a state quantity estimating device for a traveling vehicle according to the first embodiment.
(A) is a conceptual diagram showing a relationship between a radio wave source and a traveling vehicle,
(B) has shown the block diagram of signal processing. In this device, a plurality of radio wave sources 1 whose frequencies and installation intervals are determined are provided along a road. In addition, in FIG. 1A, since it is not possible to represent all of the plurality of radio wave sources 1,
The selected 1st, 2nd radio wave sources A and B are shown.

For a traveling vehicle 3 traveling on the road, C
A PU (Central Processing Unit) 5 is provided, as well as a radio wave detection unit 7 and a vehicle speed pulse detection unit 9. The radio wave detector 7 detects each radio wave transmitted from the radio wave source 1 and inputs the radio wave to the central processing unit 5. The vehicle speed pulse detector 9 detects a pulse signal corresponding to the vehicle speed of the traveling vehicle 3 and inputs it to the central processing unit 5. As shown in FIG. 1B, the central processing unit 5 includes a traveling distance calculation unit 11 as a distance calculation unit, a radio wave direction estimation unit 13 as a radio wave direction estimation unit, and a state quantity calculation unit 15 as a distance estimation unit and a vehicle position detection unit. Is equipped with.

The traveling distance calculation unit 11 receives the signal from the vehicle speed pulse detection unit 9 and calculates the traveling distance of the traveling vehicle 3. The radio wave direction estimation unit 13 receives the signal from the radio wave detection unit 7 and the direction of each radio wave emitted from a plurality of radio wave sources 1, for example, the first radio wave source A and the second radio wave source B, and the traveling vehicle 3. Calculate the azimuth angle with the vehicle body axis orthogonal to the vehicle axle. The state quantity calculator 15 estimates the distance in the lane direction along the road from the traveling vehicle 3 to the two selected radio sources A and B from the mutual distance between the radio sources A and B and the traveling distance of the traveling vehicle 3. To do. Further, the state quantity calculation unit 15 serves as a vehicle position estimating means, based on the distance and azimuth in the lane direction of the traveling vehicle 3 with respect to the selected two radio wave sources A and B, the yaw angle and lateral position of the traveling vehicle 3 with respect to the lane. , Estimate the front-back position.

FIG. 2 shows the relationship between the traveling vehicle 3 and the radio wave sources A and B. A plurality of radio wave sources 1 are provided along the road 17, and the frequency and the installation interval are determined. In FIG.
Of the plurality of radio wave sources 1, the traveling vehicle 3 has detected the radio waves A and B of the radio wave sources A and B, and the traveling vehicle 3'of an oncoming vehicle has the radio waves A'and B '. . Reference numeral 19 indicates a lane along a road such as a white line.

FIG. 3A shows a geometrical relationship between the radio wave sources A and B and the traveling vehicle 3, and the reference numerals in the drawing are as follows.

L _A : Distance between traveling vehicle 3 in lane 19 direction and radio wave source A _LB : Distance between traveling vehicle 3 in lane 19 direction and radio wave source B α: Yaw angle θ _A of traveling vehicle in lane 19 direction : Azimuth angle between the direction of radio wave A and the vehicle body axis 21 orthogonal to the axle of the traveling vehicle 3 θ _B : azimuth angle between the direction of radio wave B and the vehicle body axis 21 γ _A : yaw angle γ of the radio wave A with respect to the lane 19 orthogonal line γ _B : yaw angle of the radio wave B with respect to the lane 19 orthogonal line α: yaw angle of the traveling vehicle 3 with respect to the lane 19 D: lateral position of the traveling vehicle 3 In FIG. 3A, θ _A and θ _B are directly detected and estimated. It is the amount that is done. Other quantities can be easily calculated.

[Determination of front-back position in lane direction] This determination is performed by the state quantity computing unit 15 shown in FIG. 1 as a distance estimating means. For example, when the traveling vehicle 3 passes by or under the radio wave source A, the azimuth angle θ _A of the radio wave A becomes π / 2 (the longitudinal direction of the vehicle body is 0). This radio wave A is recorded and the traveling distance at that time is reset. When traveling the vehicle 3 passes radio sources A, since the travel distance is measured, the distance L _A lane direction with the radio source A running vehicle 3 is calculated. Further, since the distance between the radio source A radio wave source B is inputted in advance, the distance L _B of the lane direction between the moving vehicle 3 and radio source B is also calculated. By the way, inter-vehicle distance information is required for autonomous driving. If one knows the distance from the radio source A and the other knows the distance from the radio source B, and the distance between the radio sources A and B is specified in advance, the distance between the two vehicles can be calculated. Therefore, there is an advantage that no new means for knowing the absolute coordinates of the radio wave sources is needed.

[Selection of Radio Wave Sources A and B] The selection of the radio wave source A is such that the azimuth angle θ _A = π / 2 when the traveling vehicle 3 passes by or under the radio wave source A as described above. The radio source B can be selected according to the frequency of the radio source A.
The radio wave source B can be selected by giving the meaning of the frequency. Further, the radio wave source B can be selected as the maximum one when the azimuth angles γ _B , γ _A , ... Of the detected radio waves are less than π / 2. Note that the azimuth angle is estimated from the radio sensitivity relating to the azimuth as shown in FIG.

[Calculation of yaw angle and lateral position] The yaw angle α and lateral position D are calculated from the geometrical relationship shown in FIG. 3 (a) as follows.

[0036]

[Equation 1] Solve for D.

[0037]

[Equation 2] Choose a positive D. As a result, γ _A and α are calculated.

[0038]

(Equation 3) Even if the traveling distance is reset while the vehicle has a yaw angle with respect to the lane 19 direction, the accuracy of the estimation of the yaw angle thereafter is maintained as follows.

That is, as shown in FIG. 4, the vehicle had a yaw angle of 1 deg at the time of resetting the traveling distance at the radio wave source A, but thereafter, the vehicle travels to positions P, Q, and R while maintaining the yaw angle at 0. Suppose you did. Also, the distance between the radio wave sources A and B is 50
0 m, the distance between the radio wave source A and the position P is 10 m, the distance between the positions PQ is 240 m, and the distance between the positions QR is 240 m.
m, the distance between the position R and the radio wave source B is 10 m. Then, the lateral displacement Dm at the positions P, Q, and R and the yaw angle αdeg
The theoretical value of is 10m, 0deg as shown in the upper part of the chart in FIG.
However, the yaw angle is 1d when the mileage is reset.
In the case of having an egg, D = 10.163089 m, α = −0.0194 at the position P as shown in the lower part of the chart of FIG.
The value is 742 deg, and the values at the positions Q and R are as shown below. That is, the error in the estimated yaw angle is 0.
It was about 02 deg, and it was confirmed that the initial yaw angle was close to 0 and did not directly lead to an error.

Next, the operation of the first embodiment will be further described based on the flowchart of FIG. When the flowchart of FIG. 6 is executed, radio wave detection is first performed in step S1. This radio wave detection is performed by the radio wave detection unit 7 in FIG. 1, and simultaneously receives radio waves (plurality) of frequencies prepared for this system. Next, in step S2, radio wave azimuth calculation, that is, azimuth angles θ _A and θ _B is calculated. The calculation of the azimuth angle is performed by the radio wave azimuth estimation unit 13 in FIG. 1, and the azimuth of each radio wave source is estimated from the radio wave sensitivity regarding the azimuth. Therefore, step S2 constitutes the radio wave direction estimating means CL1.

In step S3, vehicle speed pulse detection is performed. This vehicle speed pulse detection is performed by the vehicle speed pulse detector 9 shown in FIG.
The vehicle speed pulse used for ABS or the like is diverted. In step S4, the traveling distance is calculated. This mileage calculation is performed by the mileage calculator 11 based on the signal from the vehicle speed pulse detector 9, and the mileage is calculated from the mileage per pulse and the number of pulses. If a mechanism for counting the number of passed magnetic nails is provided, the traveling distance may be calculated from the magnetic nail interval.
Therefore, step S4 constitutes the distance calculation means CL2.

In step S5, it is determined whether the radio wave azimuth = 90 degrees, that is, whether the azimuth angles θ _A and θ _B are 90 degrees. This is to determine whether the traveling vehicle is currently passing beside or near a certain radio wave source. This is because the target of automatic driving (AHS) is an almost straight highway. In the case of an oncoming vehicle, the angle is 270 degrees.

If YES is determined in step S5, two radio wave sources are selected in steps S6 and S7.
In step S6, a radio wave source having an azimuth angle of 90 degrees is selected as A.

In step S7, of the detected radio waves, the one having the largest azimuth angle of less than π / 2 is selected as the radio wave source B.

In steps S6 and S7, the radio wave sources A and B
Is selected, the process proceeds to step S8. If it is determined in step S5 that the radio wave direction is not 90 degrees (NO), it is determined that the traveling vehicle is located between the radio wave sources A and B, and the process proceeds to step S8. As a premise for the transition from step S5 to step S8, steps S6 and S7 have already been executed and the radio wave sources A and B have been selected.

In step S8, the distance to the radio wave source A is calculated. This distance is L _A shown in FIG. 3A, and its calculation is as described above.

In step S9, the distance from the radio wave source B is calculated. This distance is L _B in FIG. 3A, and its calculation is as described above. Therefore, steps S5 to S9 constitute the distance estimating means CL3.

Next, at step S10, the yaw angle α
Then, the lateral displacement D is calculated, and step S10 constitutes the vehicle position estimating means CL4.

In this way, when estimating the yaw angle α, etc.,
First, the radio wave sources A and B are selected, and the radio wave direction estimation unit 13 estimates the azimuth angles θ _A and θ _B. And the radio wave source A
Distance L _A is determined by the running distance from the radio source A particular the traveling vehicle 3, then it is possible to determine the distance L _B by subtracting the distance L _A from the distance between the radio source A, B. Then, the yaw angle α and the lateral position D can be calculated in the state quantity calculation unit 15 by using these values of L _A , L _B , θ _A , and θ _B.

Therefore, in the first embodiment, since the image taken by the camera is not used, it is not affected by rain, backlight, etc.
The reliability of the estimated value such as the yaw angle can be improved.
Further, there is no possibility of causing an error in distance calculation due to skipping of the magnet. Furthermore, it is not necessary to use highly accurate GPS,
High costs can be suppressed. Further, it is not necessary to inform the traveling vehicle of the coordinates of the radio wave source, and the processing is easy.

(Second Embodiment) FIG. 7 relates to the second embodiment, (a) is a schematic diagram showing the relationship between the traveling vehicle 3 and the radio wave source A, and (b) is a block diagram. In this second embodiment, the state quantity is calculated by selecting one radio wave source A. Therefore, in this embodiment, the vehicle body lateral position detector 23 is added. Other configurations correspond to those of the first embodiment shown in FIG. 1, and corresponding components will be described with the same reference numerals, and redundant description will be omitted.

In this embodiment, the lateral position of the traveling vehicle 3 with respect to the lane is detected by the vehicle body lateral position detector 23 as the lateral position measuring means, and the lateral position of the traveling vehicle 3 is input to the state quantity calculator 15. That is, as shown in FIG.
Is not calculated as in the first embodiment, but is detected by the vehicle body lateral position detector 23. Radio source A
And the calculation of the azimuth angle θ _A and the distance L _A are the same as in the first embodiment. Then, from these values, the yaw angle γ of the radio wave A
_A , the yaw angle α of the traveling vehicle 3 is calculated by the following equation.

Γ _A = tan ⁻¹ (L _A / D) α = θ _A − (π / 2 + γ _A ) FIG. 9 shows a flowchart of the second embodiment. In the flowchart of FIG. 9, FIG. 6 of the first embodiment of FIG.
The vehicle lateral position detection of step S11 is added to the flowchart of step S11, and steps S7 and S9 relating to the radio wave source B are omitted. That is, in step S11, the vehicle lateral displacement is detected by a magnetic sensor or the like,
Step S11 constitutes lateral position measuring means CL5.

In this embodiment, since one radio wave source is selected and calculation is performed, the direction of radio wave source detection can be narrowed and the reliability of detection can be improved. In addition, the radio wave source on the ground can also regulate the direction of radio wave irradiation, which can simplify the radio wave source and reduce maintenance costs.

Further, in the second embodiment, since the lateral displacement is directly obtained by a magnetic sensor or the like, it is not necessary to use a tangent nonlinear function, and the accuracy can be improved accordingly.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing a relationship between a radio wave source and a traveling vehicle according to the first embodiment, and FIG. 1 (b) is a block diagram.

FIG. 2 is a plan view showing a relationship between a traveling vehicle, a radio wave source, and radio waves according to the first embodiment.

FIG. 3 relates to the first embodiment, (a) is a plan view showing a geometrical relationship between a traveling vehicle and a radio wave source, and (b) is a graph of a relationship between radio wave sensitivity and a direction of the radio wave source. .

FIG. 4 is a plan view illustrating a yaw angle error.

FIG. 5 is a diagram illustrating a yaw angle error.

FIG. 6 is a flowchart according to the first embodiment.

FIG. 7 relates to the second embodiment, (a) is a schematic configuration diagram of a relationship between a radio wave source and a traveling vehicle, and (b) is a block diagram.

FIG. 8 is a plan view showing a geometrical relationship between a radio wave source and a traveling vehicle.

FIG. 9 is a flowchart according to the second embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Radio wave source A, B Radio wave source 3 Traveling vehicle 11 Traveling distance calculation section (distance calculation means CL2) 13 Radio wave direction estimation section (radio wave direction estimation means CL1) 15 State quantity calculation section (distance estimation means CL3, vehicle position estimation means CL4) ) 17 roads 19 lanes 21 vehicle body axis 23 vehicle body lateral position detector (lateral position measuring means CL5)

Claims (5)

[Claims] 1. A plurality of radio wave sources provided along a road and having a fixed frequency and installation intervals, distance calculation means for calculating a traveling distance of a traveling vehicle, and radio waves emitted from the plurality of radio wave sources. 2. A radio wave direction estimating means for calculating an azimuth angle with respect to a vehicle body axis orthogonal to the axle of the traveling vehicle with the front of the vehicle body as zero degrees; and two radio wave sources selected from the plurality of radio wave sources, and selected from the traveling vehicle. Distance estimating means for estimating the distance in the lane direction along the road to two radio sources from the change of the radio directions of the selected radio sources, the mutual distance between the radio sources, and the traveling distance of the traveling vehicle; Vehicle position estimating means for estimating a yaw angle and a lateral position of the traveling vehicle with respect to the lane based on the distance and the azimuth angle of the traveling vehicle with respect to the two generated radio sources. State estimation apparatus for a vehicle. 2. The state quantity estimating device for a traveling vehicle according to claim 1, wherein the distance estimating means has an absolute value of an azimuth angle of a radio wave source of π /.
When it becomes 2, the first radio wave source is used as the first radio wave source, its lane direction distance is set to zero, and thereafter, the distance to the first radio wave source is estimated from the traveling distance, and the moment when the first radio wave source is selected ( Azimuth absolute value = π / 2) The maximum azimuth absolute value less than π / 2 is the second radio wave source, and travels with the second radio wave source based on the distance between the radio wave sources and the lane distance of the first radio wave source. An apparatus for estimating a state quantity of a traveling vehicle, characterized by estimating a distance in a lane direction of a vehicle. 3. The state quantity estimating device for a traveling vehicle according to claim 1, wherein the distance estimating means has an absolute azimuth angle of a radio wave source of π /.
When it becomes 2, it is set as the first radio wave source, its lane direction distance is set to zero, and thereafter, the distance to the first radio wave source is estimated from the traveling distance, and the first radio wave source and the second radio wave source are also estimated. A specific relationship is preset for the frequency, and the second radio wave source is selected accordingly, and the lane distance between the second radio wave source and the traveling vehicle is estimated from the distance between the radio wave sources and the lane distance between the first radio wave source. An apparatus for estimating a state quantity of a traveling vehicle, wherein: 4. A plurality of radio wave sources provided along a road, the frequency and installation interval of which are determined, distance calculation means for calculating a traveling distance of a traveling vehicle, and a lateral side of the traveling vehicle with respect to a lane along the road. Lateral position measuring means for measuring the position, radio wave direction estimating means for calculating the azimuth angle between the direction of each radio wave transmitted from the plurality of radio wave sources and the vehicle body axis orthogonal to the axle of the traveling vehicle, and the plurality of radio wave direction estimating means. Distance estimating means for selecting one radio wave source from the radio wave sources and estimating the distance in the lane direction from the traveling vehicle to the selected radio wave source from the traveling distance of the traveling vehicle, and for the selected radio wave source A state quantity estimating device for a traveling vehicle, comprising: vehicle position estimating means for estimating a yaw angle of the traveling vehicle with respect to the lane based on the distance in the lane direction of the traveling vehicle, the azimuth angle, and the lateral position. 5. The state quantity estimating device for a traveling vehicle according to claim 4, wherein the distance estimating means selects a radio wave source whose absolute value of an azimuth angle with respect to the vehicle body axis is π / 2, the radio wave. A state quantity estimating device for a traveling vehicle, wherein the distance in the lane direction to the source is set to zero, and then the distance is estimated from the traveling distance.