PROBLEM TO BE SOLVED: To improve accuracy of an estimated value of a road gradient.SOLUTION: The road gradient estimation device comprises: a signal acquiring portion 11 that acquires information for determination to be used for determining whether an attitude of a vehicle S changes; a filter portion 13 that generates smoothing information by eliminating components of a predetermined frequency or more included in the information for determination; an output portion 14 that outputs a gradient value indicating a gradient of a road surface on which the vehicle S travels, estimated on the basis of the smoothing information; and a control portion 15 that changes the time constant of the filter portion 13 from first time constant to second time constant larger than the first time constant after the information for determination indicates that the attitude of the vehicle S has changed, and changes the time constant of the filter portion 13 from the second time constant to the first time constant after predetermined delay time has elapsed since the information for determination does not indicate that the attitude of the vehicle S has changed.SELECTED DRAWING: Figure 2

    【課題】路面勾配の推定値の精度を向上させる。【解決手段】車両Sの姿勢が変化したことを判定するために用いられる判定用情報を取得する信号取得部11と、判定用情報に含まれる所定の周波数以上の成分を除去することにより平滑化情報を生成するフィルタ部13と、平滑化情報に基づいて推定した車両Sが走行する路面の勾配を示す勾配値を出力する出力部14と、判定用情報が、車両Sの姿勢が変化していることを示す状態になったことを契機として、フィルタ部13の時定数を、第1の時定数から、第1の時定数よりも大きな第2の時定数に変更し、車両Sの姿勢が変化していることを示さない状態になってから所定の遅延時間が経過した後に、フィルタ部13の時定数を第2の時定数から第1の時定数に変更する制御部15と、を有する。【選択図】図2


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    Title :

    ROAD GRADIENT ESTIMATION DEVICE


    Additional title:

    路面勾配推定装置


    Contributors:

    Publication date :

    2017-08-24


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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