PROBLEM TO BE SOLVED: To estimate a slip angle of each wheel in a dump truck of which a vehicle body weight is largely changed with a good accuracy.SOLUTION: A wheel slip angle estimation device comprises: inter-road vehicle posture estimation part 121 which converts a vehicle body coordinate system into a road surface coordinate system by use of a sequence of a distance to a measurement point on a road surface measured by a road surface distance meter 105; an on-road surface inertia amount measurement part 122 which converts an inertia amount due to movement of a vehicle body in which a gravity acceleration component is eliminated from an inertia amount of vehicle body which is defined in the vehicle body coordinate system and is measured by a vehicle body inertia measurement device 104; and a wheel slip angle estimation part 123 which determines a wheel speed vector along an inclination direction of a wheel based on a steering angle from a steering angle measurement device 106 and a wheel speed measured by a wheel speed meter 107, determines a wheel acceleration vector derived from the wheel speed meter based on the wheel speed vector, and estimates a side slip angle of a wheel based on a difference between the wheel speed vector and an acceleration vector converted into the road surface coordinate system.SELECTED DRAWING: Figure 5

    【課題】車体重量が大きく変化するダンプトラックにおいて、各車輪における滑り角を精度よく推定する。【解決手段】路面距離計測装置105が計測した路面上の計測点までの距離の系列を用いて、車体座標系から路面座標系に変換する路車間姿勢推定部121と、車体座標系で定義された車体慣性計測装置104が計測した車体の慣性量から重力加速度成分を取り除いて車体の運動に起因する慣性量を車体—路面座標変換情報を用いて路面座標系に変換する路面上慣性量計算部122と、操舵角計測装置106からの操舵角及び車輪速度計測装置107が計測した車輪速度に基づいて車輪の傾き方向に沿った車輪速度ベクトルを求め、車輪速度ベクトルを基に車輪速度計測装置由来の車輪加速度ベクトルを求め、車輪加速度ベクトル及び路面座標系に変換された加速度ベクトルの差分を基に車輪の横滑り角度を推定する車輪滑り角推定部123とを備える。【選択図】図5


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    Title :

    WHEEL SLIP ANGLE ESTIMATION DEVICE AND METHOD


    Additional title:

    車輪の滑り角推定装置及びその方法


    Contributors:

    Publication date :

    2017-05-25


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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