PROBLEM TO BE SOLVED: To make it possible to easily and appropriately estimate a center-of-gravity height during travelling of a vehicle.SOLUTION: A center-of-gravity height device is configured to comprise: a forward/rearward acceleration sensor 22 that detects acceleration in a forward/rearward direction of a vehicle 1; a gyro sensor 21 that detects a pitch angular speed of the vehicle 1; a parameter estimation unit 51 that inputs the acceleration in the forward/rearward direction, and the pitch angular speed about a state equation corresponding to a pitch motion model of the vehicle 1 to apply a non-linear Kalman filter, and thereby estimates a value of parameter of the state equation; and a center-of-gravity height estimation unit 54 that estimates a center-of-gravity height hof the vehicle 1 on the basis of the parameter value, rigidity Kin a pitch direction of the vehicle 1, or viscosity attenuation coefficient Cand sprung mass m of the vehicle 1.SELECTED DRAWING: Figure 2

    【課題】車両の走行中の重心高を容易且つ適切に推定できるようにする。【解決手段】車両1の前後方向の加速度を検出する前後加速度センサ22と、車両1のピッチ角速度を検出するジャイロセンサ21と、車両1のピッチ運動モデルに対応する状態方程式について、前後方向の加速度と、ピッチ角速度とを入力し、非線形カルマンフィルタを適用することにより、状態方程式のパラメータの値を推定するパラメータ推定部51と、パラメータの値と、車両1のピッチ方向の剛性Kp、又は粘性減衰係数Cpと、車両1のばね上質量mとに基づいて、車両1の重心高hCGを推定する重心高推定部54とを有するように構成する。【選択図】図2


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    Title :

    CENTER OF GRAVITY HEIGHT ESTIMATION DEVICE


    Additional title:

    重心高推定装置


    Contributors:

    Publication date :

    2017-02-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / 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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