PROBLEM TO BE SOLVED: To provide a vehicle control device capable of calibrating the acceleration sensor of a vehicle traveling a sloping travel road and of estimating the gradient of the travel road at high accuracy, and to provide a sensor calibration method.SOLUTION: A vehicle control device 150 has an acceleration sensor 5 detecting acceleration, a power meter 200a measuring the drive power output by an electric motor 200, and the wheel rotation speed sensors 35a, 35b, 35c, 35d detecting a vehicle body speed. A sensor calibration method includes calibrating the acceleration sensor 5 by the vehicle control device 150. It is determined that a vehicle is in a stationary state when the acceleration calculated by time differential of the vehicle speed is a prescribed acceleration threshold or less and when the variation of the drive power is a prescribed stationary variation or less. At that time, an offset error included in a sensor detection acceleration Gs being a detection value of the acceleration sensor 5 is corrected.SELECTED DRAWING: Figure 3

    【課題】勾配のある走行路を走行している車両の加速度センサのセンサ校正が可能で走行路の勾配を精度よく推定できる車両制御装置、及び、センサ校正方法を提供することを課題とする。【解決手段】加速度を検出する加速度センサ5と、電動機200が出力する駆動力を計測する動力計200aと、車体速を検出する車輪速センサ35a,35b,35c,35dと、を有する車両に備わる車両制御装置150とする。また、車両制御装置150が加速度センサ5を校正するセンサ校正方法とする。そして、車体速を時間微分して算出する加速度が所定の加速度閾値以下で、駆動力の変化量が所定の定常変化量以下のときに車両が定常状態になったと判定して加速度センサ5の検出値であるセンサ検出加速度Gsに含まれるオフセット誤差を補正することを特徴とする。【選択図】図3


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    Title :

    VEHICLE CONTROL DEVICE, AND SENSOR CALIBRATION METHOD


    Additional title:

    車両制御装置、及び、センサ校正方法


    Contributors:

    Publication date :

    2016-04-04


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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