To provide a vehicle motion state estimation device and method capable of estimating, with high accuracy, a vertical motion state quantity by considering force in a vertical direction acting on a vehicle body through geometry of a suspension as friction force acting in a fore-and-aft direction or a lateral direction of a wheel.SOLUTION: A vehicle motion state estimation device in a vehicle in which a wheel and a vehicle body is connected through a suspension includes: a vertical motion-induced wheel speed component estimation part for estimating a wheel speed component generated by vertical motion of the vehicle; a vertical force estimation part for calculating force in a vertical direction acting on the vehicle body through geometry of a suspension as friction force of the wheel generated by motion of the vehicle; and a vertical motion estimation part for estimating a state quantity of vertical motion of the vehicle. In the vehicle motion state estimation device, the vertical motion estimation part estimates the state quantity of the vertical motion of the vehicle on the basis of a wheel speed component from the vertical motion-induced wheel speed component estimation part and the force in the vertical direction acting on the vehicle body from the vertical force estimation part.SELECTED DRAWING: Figure 2
【課題】車輪の前後方向や横方向に作用する摩擦力が、サスペンションのジオメトリによって車体に作用する上下方向の力を考慮することで上下運動状態量を高精度に推定できる車両運動状態推定装置および方法を提供することを目的とする。【解決手段】車輪と車体がサスペンションを介して結合された車両における車両運動状態推定装置であって、車両の上下運動によって生じる車輪速成分を推定する上下運動起因車輪速成分推定部と、車両の運動によって生じる車輪の摩擦力が、サスペンションのジオメトリによって車体に作用する上下方向の力を算出する上下力推定部と、車両の上下運動の状態量を推定する上下運動推定部を備え、上下運動推定部は、上下運動起因車輪速成分推定部からの車輪速成分と、上下力推定部からの車体に作用する上下方向の力に基づいて車両の上下運動の状態量を推定することを特徴とする車両運動状態推定装置。【選択図】図2
VEHICLE MOTION STATE ESTIMATION DEVICE, VEHICLE MOTION STATE ESTIMATION METHOD, AND VEHICLE
車両運動状態推定装置、車両運動状態推定方法並びに車両
2020-07-02
Patent
Electronic Resource
Japanese
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