PROBLEM TO BE SOLVED: To provide a vehicle state estimation device capable of improving accuracy in estimating a vehicular state amount from a wheel speed.SOLUTION: A vehicle state estimation device includes: wheel speed detection means 4; braking-operation amount detection means 5; drive operation amount detection means 6; steering operation amount detection means 7; first state amount estimation means 21 for estimating a suspended state amount of a vehicle caused by an operation input; first variation estimation means 22 for estimating a wheel speed variation amount caused by the operation input; second variation estimation means 23 for estimating an actual wheel speed variation amount from which the wheel speed variation amount due to braking force is subtracted, from the detected wheel speed; third variation estimation means 24 for removing the wheel speed variation amount caused by the operation input from the actual wheel speed variation amount, thus estimating a wheel speed variation amount caused by a road-surface input; and second state amount estimation means 25 for estimating either one of a suspended state amount and an un-suspended state amount caused by the road-surface input on the basis of the wheel speed variation amount caused by the road-surface input.

    【課題】車輪速から車両の状態量を推定する推定精度の向上を図ることができる車両状態推定装置を提供すること。【解決手段】車輪速検出手段4と、制動操作量検出手段5と、駆動操作量検出手段6と、操舵操作量検出手段7と、操作入力に起因する車両のばね上状態量を推定する第一の状態量推定手段21と、操作入力に起因する車輪速変動量を推定する第一の変動推定手段22と、検出した車輪速から、制駆動力による車輪速変動量を除いた実際の車輪速変動量を推定する第二の変動推定手段23と、実際の車輪速変動量から操作入力に起因する車輪速変動量を除去することで、路面入力に起因する車輪速変動量を推定する第三の変動推定手段24と、路面入力に起因する車輪速変動量に基づき、路面入力に起因するばね上状態量およびばね下状態量の少なくとも何れか一方を推定する第二の状態量推定手段25と、を備える。【選択図】図1


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    Title :

    VEHICLE STATE ESTIMATION DEVICE, VEHICLE STATE ESTIMATION METHOD, AND VEHICLE CONTROL APPARATUS


    Additional title:

    車両状態推定装置、車両状態推定方法および車両制御装置


    Contributors:

    Publication date :

    2015-07-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge