PROBLEM TO BE SOLVED: To provide a road-surface gradient estimation device and a road-surface gradient estimation method that highly accurately estimate a road-surface gradient by reducing estimation error resulting from pitching motion caused in a vehicle.SOLUTION: A road surface gradient estimation device 30 comprises an accelerator opening degree sensor 22, a vehicle speed sensor 26, an acceleration sensor 27, and a road-surface gradient calculating section 31. The road-surface gradient calculating section 31 comprises: an estimating section 32 that estimates a road- surface gradient; a filter section 34 that outputs after subjecting an input value to a filter process by use of a low-pass filter having a time constant tc that is freely variable; and an altering section 35 into which both an amount ΔAx of change in accelerator opening degree, which is a numeric value relating to a factor, and a differential value vx', which is an added acceleration, are input as parameters, and which alters the time constant tc according to these parameters.SELECTED DRAWING: Figure 3
【課題】車両に生じるピッチング運動による推定誤差を低減して、路面勾配を高精度に推定する路面勾配推定装置及び路面勾配推定方法を提供する。【解決手段】路面勾配推定装置30は、アクセル開度センサ22と、車速センサ26と、加速度センサ27と、路面勾配演算部31とを備え、路面勾配演算部31が、路面勾配を推定する推定部32と、入力されたその値に対して可変自在の時定数tcを有するローパスフィルタでフィルタ処理を施して出力するフィルタ部34と、要因に関する数値としてのアクセル開度変化量ΔAx及び加算加速度としての微分値vx’の両方がパラメータとして入力されて、このパラメータに応じて、時定数tcを変更する変更部35と、を備えて構成される。【選択図】図3
ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
路面勾配推定装置及び路面勾配推定方法
2018-07-19
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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|ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
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|ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
European Patent Office | 2017
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