PROBLEM TO BE SOLVED: To provide a road surface gradient estimation device and a road surface gradient estimation method which can estimate with high accuracy road surface gradients by reducing estimate errors caused by temporary change of a road surface.SOLUTION: A road surface gradient estimation device 30 comprises a vehicle speed sensor 26, an acceleration sensor 27 and a road surface gradient calculation portion 31. The road surface gradient calculation portion 31 is constituted to comprise; an estimation portion 32 that estimates road surface gradients; a filter portion 34 that subjects a value inputted thereto to filter processing using a low-pass filter having variable time constant tc and then outputs the value; and a changing portion 35 that changes time constant tc according to variations Δθx of estimate value θz estimated.SELECTED DRAWING: Figure 3
【課題】路面の一時的な変化による推定誤差を低減して、路面勾配を高精度に推定する路面勾配推定装置及び路面勾配推定方法を提供する。【解決手段】路面勾配推定装置30は、車速センサ26と、加速度センサ27と、路面勾配演算部31とを備え、路面勾配演算部31が、路面勾配を推定する推定部32と、入力されたその値に対して可変自在の時定数tcを有するローパスフィルタでフィルタ処理を施して出力するフィルタ部34と、推定した推定値θzの変化量Δθxに応じて、時定数tcを変更する変更部35と、を備えて構成される。【選択図】図3
ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
路面勾配推定装置及び路面勾配推定方法
2017-12-28
Patent
Elektronische Ressource
Japanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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