PROBLEM TO BE SOLVED: To suppress degradation in reliability of a result of yaw rate determination in a case where the reliability of a detection value of a yaw rate sensor is low.SOLUTION: A vehicle motion state determination device of the present invention includes a yaw rate sensor that detects a yaw rate occurring in a vehicle including the device, an acceleration sensor that detects an acceleration occurring in the vehicle, yaw rate calculation means that calculates the yaw rate, which has occurred in the vehicle, on the basis of the detected acceleration, yaw rate determination means that determines the yaw rate, which has occurred in the vehicle, on the basis of at least one of the detected yaw rate and calculated yaw rate, and yaw rate reliability decision means that decides that the reliability of the detected yaw rate is low. Herein, if the reliability of the detected yaw rate is not decided to be low, the yaw rate determination means determines the detected yaw rate as the yaw rate that has occurred in the vehicle. If the reliability of the detected yaw rate is decided to be low, the yaw rate determination means determines the yaw rate on the basis of the calculated yaw rate.
【課題】ヨーレートセンサの検出値の信頼性が低い場合に、ヨーレート決定結果の信頼性低下を抑制することを課題とする。【解決手段】本発明は、自車両に発生したヨーレートを検出するヨーレートセンサと、自車両に発生した加速度を検出する加速度センサと、検出した加速度に基づいて自車両に発生したヨーレートを算出するヨーレート算出手段と、検出ヨーレート及び算出ヨーレートのうち少なくとも一つに基づいて、自車両に発生したヨーレートを決定するヨーレート決定手段と、検出ヨーレートの信頼性が低いことを判定するヨーレート信頼性判定手段と、を備える。ここで、ヨーレート決定手段は、検出ヨーレートの信頼性が低いと判定されていない場合には、検出ヨーレートを自車両に発生したヨーレートとして決定し、検出ヨーレートの信頼性が低いと判定された場合には、算出ヨーレートに基づいてヨーレートを決定する。【選択図】図2
VEHICLE MOTION STATE DETERMINATION DEVICE AND VEHICLE MOTION CONTROL DEVICE
車両運動状態決定装置及び車両運動制御装置
2015-10-08
Patent
Electronic Resource
Japanese
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B62D MOTOR VEHICLES , Motorfahrzeuge / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes |
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