PROBLEM TO BE SOLVED: To provide a vehicle body speed estimation device of a vehicle which can accurately estimate a vehicle body speed from a wheel speed, in the vehicle which can generate a brake force at least at the other one wheel when the brake force is generated at least at one wheel.SOLUTION: This vehicle body speed estimation device 5 of a vehicle comprises deviation calculation means 21 which extracts a wheel whose wheel speed is the lowest out of wheels whose brake/drive forces are positive and a wheel whose wheel speed is the highest out of wheels whose brake/drive forces are negative when determination means 20 determines that absolute values of the brake/drive forces of all the wheels are not smaller than a threshold and a positive force and a negative force are mixed in the brake/drive forces of all the wheel, and calculates deviation between wheel angle acceleration and standard wheel angle acceleration on these two wheels. The vehicle body speed estimation device also comprises vehicle body speed estimation means 22 which estimate a vehicle body speed from a wheel speed of a wheel whose absolute value is smaller out of each deviation which is calculated in the deviation calculation means 21.SELECTED DRAWING: Figure 3
【課題】 少なくとも1輪に駆動力を発生しているときに、他の少なくとも1輪に制動力を発生可能な車両において、車輪速から車体速度を精度よく推定することができる車両の車体速度推定装置を提供する。【解決手段】 この車両の車体速度推定装置5は、判定手段20により、全ての車輪の制駆動力の絶対値が閾値以上で、且つ、これら全ての車輪の制駆動力につき正負が混在すると判定されたとき、制駆動力が正の車輪のうち車輪速が最低値の車輪と、制駆動力が負の車輪のうち車輪速が最高値の車輪とを抽出し、これら二つの車輪について、それぞれ車輪角加速度と規範車輪角加速度との偏差を算出する偏差算出手段21を設ける。偏差算出手段21でそれぞれ算出された偏差のうち、絶対値が小さい方の車輪の車輪速から車体速度を推定する車体速度推定手段22を設けた。【選択図】 図3
VEHICLE BODY SPEED ESTIMATION DEVICE OF VEHICLE
車両の車体速度推定装置
2016-06-02
Patent
Electronic Resource
Japanese
IPC: | B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / 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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