The purpose of the present invention is to provide a device and a method for estimating a vehicle motion state with which it is possible to estimate, with high accuracy, a vertical motion state quantity by taking into consideration vertical-direction force in which friction force acting in the front-rear direction and/or the lateral direction of a wheel acts on a vehicle body through the geometry of a suspension. Disclosed is a vehicle motion state estimation device in a vehicle in which a wheel and a vehicle body are coupled by a suspension, the vehicle motion state estimation device being characterized by comprising a vertical motion-induced wheel velocity component estimating unit that estimates a wheel velocity component caused by vertical motion of the vehicle, a vertical force estimating unit that calculates vertical-direction force in which friction force of the wheel caused by the motion of the vehicle acts on the vehicle body through the geometry of the suspension, and a vertical motion estimating unit that estimates the state quantity of the vertical motion of the vehicle, wherein the vertical motion estimating unit estimates the state quantity of the vertical motion of the vehicle on the basis of the wheel velocity component from the vertical motion-induced wheel velocity component estimating unit, and the vertical-direction force acting on the vehicle body as acquired from the vertical force estimating unit.
本发明的目的在于提供一种通过考虑作用于车轮的前后方向或横向的摩擦力因悬架的几何结构而作用于车体的上下方向的力而能够高精度地推断上下运动状态量的车辆运动状态推断装置及方法。本发明为一种车辆运动状态推断装置,它是车轮与车体通过悬架结合在一起的车辆上的车辆运动状态推断装置,其特征在于,具备:上下运动起因轮速分量推断部,其推断因车辆的上下运动而产生的轮速分量;上下力推断部,其算出因车辆的运动而产生的车轮的摩擦力因悬架的几何结构而作用于车体的上下方向的力;以及上下运动推断部,其推断车辆的上下运动的状态量,上下运动推断部根据来自上下运动起因轮速分量推断部的轮速分量和来自上下力推断部的作用于车体的上下方向的力来推断车辆的上下运动的状态量。
VEHICLE MOTION STATE ESTIMATION DEVICE, VEHICLE MOTION STATE ESTIMATION METHOD, AND VEHICLE
车辆运动状态推断装置、车辆运动状态推断方法以及车辆
2021-08-06
Patent
Elektronische Ressource
Chinesisch
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