According to the present invention, an unsprung state detection part (140) calculates (S11-S13) a fluctuation amount (X) (= |[phi]-[phi]'|) which is the size of the difference between a detected angle ([phi]) outputted by a resolver rotational angle sensor (40) for detecting the rotational angle of an in-wheel motor (30), and an estimated angle ([phi]') of the motor rotational angle. The estimated angle ([phi]') can be calculated by adding the estimated angle whereby the motor (30) has rotated during one computation cycle to the detected angle ([phi]n-1) of the previous computation cycle. When the fluctuation amount (X) is greater than a road surface determination threshold (Xref), the unsprung state detection part (140) determines (S14, S15) that the road on which a vehicle (1) is traveling is a bad road. The rotational angle sensor (40) can thereby be used to perform a road surface determination.
Vehicle state detection
12.08.2015
Patent
Elektronische Ressource
Englisch
VEHICLE STATE DETECTION APPARATUS, VEHICLE, AND VEHICLE STATE DETECTION METHOD
Europäisches Patentamt | 2025
|Vehicle state detection method and vehicle state detection device
Europäisches Patentamt | 2015
|Work vehicle state detection system, work vehicle, and work vehicle state detection method
Europäisches Patentamt | 2024
|VEHICLE BODY STATE DETECTION SYSTEM AND VEHICLE BODY STATE DETECTION METHOD
Europäisches Patentamt | 2023
|