PROBLEM TO BE SOLVED: To improve accuracy of an estimated value of a road gradient.SOLUTION: A road gradient estimation device 1 comprises: a signal acquiring portion 11 that acquires a signal for determination to be used for determining whether an attitude of a vehicle S changes; an estimating portion 12 that generates attitude estimated values by estimating an attitude of the vehicle S on the basis of the signal for determination; a filter portion 13 that outputs a gradient value indicating a gradient of a road surface on which the vehicle S travels by eliminating components of a predetermined frequency or more included in the attitude estimated value indicating the attitude of the vehicle S estimated by the estimating portion 12; and a control portion 14 that controls the time constant of the filter portion 13 on the basis of the variance of the attitude estimated values.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】勾配推定装置1は、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信号を取得する信号取得部11と、判定用信号に基づいて車両Sの姿勢を推定することにより姿勢推定値を生成する推定部12と、推定部12が推定した車両Sの姿勢を示す姿勢推定値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車両Sが走行する路面の勾配を示す勾配値を出力するフィルタ部13と、姿勢推定値の分散に基づいて、フィルタ部13の時定数を制御する制御部14と、を有する。【選択図】図2
ROAD GRADIENT ESTIMATION DEVICE
路面勾配推定装置
2017-08-24
Patent
Electronic Resource
Japanese
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 |
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