To improve the estimation accuracy of a gradient angle by improving the avoidance accuracy of erroneous estimation of the gradient angle.SOLUTION: A controller 11 as a vehicle control device includes a road surface gradient calculation part 11A, a vertical acceleration correction calculation part 11B and a damping force command calculation part 11C which constitute a road surface gradient estimation device. The road surface gradient calculation part 11A includes a straight advance direction gradient calculation part 15 as a control part for performing calculation on the basis of inputted information. The straight advance direction gradient calculation part 15 calculates a gradient angle θ on the basis of an estimated absolute vehicle speed Vxabs based on the rotational speed AVwheel of a wheel 3, a front-rear acceleration sensor value αxsens based on a detection value of a front-rear acceleration sensor 10 of an upper spring, and a request signal for calculating the gradient angle θ of a road surface on which a vehicle travels. The request signal is acquired in accordance with estimated front-rear acceleration of the vehicle based on a physical amount caused by inertia of the vehicle or a control signal based on a slip of the vehicle.SELECTED DRAWING: Figure 2
【課題】勾配角の誤推定の回避精度を向上させ、勾配角の推定精度を向上させる。【解決手段】車両制御装置としてのコントローラ11は、路面勾配推定装置を構成する路面勾配演算部11Aと、上下加速度補正演算部11Bと、減衰力指令演算部11Cとを含んで構成されている。路面勾配演算部11Aは、入力した情報に基づいて演算を行うコントロール部としての直進方向勾配算出部15を備えている。直進方向勾配算出部15は、車輪3の回転速度AVwheelに基づく推定絶対車速Vxabsと、ばね上前後加速度センサ10の検出値に基づく前後加速度センサ値αxsensと、車両が走行する路面の勾配角θを求めるための要求信号と、に基づいて勾配角θを求める。要求信号は、車両の慣性に起因する物理量に基づく車両の推定前後加速度、または車両のスリップに基づく制御信号に応じて取得される。【選択図】図2
ROAD SURFACE GRADIENT ESTIMATION DEVICE, VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD AND VEHICLE CONTROL SYSTEM
路面勾配推定装置、車両制御装置、車両制御方法および車両制御システム
20.05.2021
Patent
Elektronische Ressource
Japanisch
ROAD SURFACE GRADIENT ESTIMATION DEVICE AND VEHICLE CONTROL DEVICE
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