PROBLEM TO BE SOLVED: To provide a road gradient estimation device and a method of estimating road gradient that can improve accuracy of an estimation value of a road gradient by not directly detecting a centrifugal acceleration applied to a vehicle, when a driver operates a steering device.SOLUTION: The road gradient estimation device includes: wheel speed sensors 33a, 33b; radius calculation means 37 for calculating a turning radius R; steering angle calculation means 38 for calculating a steering angle θm; and component calculation means 39 for calculating a centrifugal acceleration Ac0 applied to a vehicle 10 on the basis of the turning radius R, and calculating a centrifugal acceleration component Ac on the basis of the centrifugal acceleration Ac0 and the calculated steering angle θm. Gradient estimation means 35 is configured to estimate an estimation gradient θx on the basis of a correction component Gc obtained by correcting a front-rear direction component Gs applied to the vehicle 10 by the centrifugal acceleration component Ac.SELECTED DRAWING: Figure 2

    【課題】運転者が操舵装置を操作した際に、車両に掛かる遠心加速度を直接検出せずに、道路勾配の推定値の精度を向上できる道路勾配推定装置及び道路勾配推定方法を提供する。【解決手段】車輪速度センサ33a、33bと、旋回半径Rを算出する半径算出手段37と、切れ角θmを算出する切れ角算出手段38と、旋回半径Rに基づいて車両10に掛かる遠心加速度Ac0を算出して、その遠心加速度Ac0及び算出した切れ角θmに基づいて遠心加速度成分Acを算出する成分算出手段39と、を備え、勾配推定手段35を、車両10に掛かる前後方向成分Gsを遠心加速度成分Acで補正して得られた補正成分Gcに基づいて推定勾配θxを推定するように構成される。【選択図】図2


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    Title :

    ROAD GRADIENT ESTIMATION DEVICE AND METHOD OF ESTIMATING ROAD GRADIENT


    Additional title:

    道路勾配推定装置及び道路勾配推定方法


    Contributors:

    Publication date :

    2016-11-10


    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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