To provide a vehicle body sliding angle estimating device capable of suppressing reduction in the precision of estimation of a vehicle body slip angle estimating value regardless of the situation.SOLUTION: A vehicle body slip angle estimating device 40 takes a vehicle body slip angle as a state variable, and calculates a state estimation quantity xe using an extended Kalman filter EKF that has an observed value containing a lateral acceleration. The extended Kalman filter EKF includes: a preliminary estimation quantity calculating unit 61 that calculates a preliminary estimation quantity x-e; and a slip angle estimation precision determining unit 64 that determines the estimation precision for the state estimation quantity xe. Moreover, the preliminary estimation quantity calculating unit 61 changes a calculation state on the basis of the determination result by the slip angle estimation precision determining unit 64 between a first calculation state to calculate the preliminary estimation quantity x-e using a first state equation defined on the basis of a model that contains variables which are the vehicle body slip angle and a tire lateral force, and, a second calculation state to calculate the preliminary estimation quantity x-e using a second state equation defined by replacing the component relating to the tire lateral force in the first state equation with a lateral acceleration estimation value.SELECTED DRAWING: Figure 3
【課題】状況に関係なく車体すべり角推定値の推定精度の低下を抑制できる車体すべり角推定装置を提供する。【解決手段】車体すべり角推定装置40は、車体すべり角を状態変数とし、横加速度を含む観測値を持つ拡張カルマンフィルタEKFを用いて状態推定量xeを演算する。拡張カルマンフィルタEKFは、事前推定量x-eを演算する事前推定量演算部61と、状態推定量xeの推定精度を判定するすべり角推定精度判定部64とを備えている。そして、事前推定量演算部61は、すべり角推定精度判定部64の判定結果に基づいて、車体すべり角と、タイヤ横力とを変数に含むモデルに基づき定義される第1の状態方程式を用いて事前推定量x-eを演算する第1の演算状態と、第1の状態方程式に対してタイヤ横力に関する成分を横加速度推定値に置き換えて定義される第2の状態方程式を用いて事前推定量x-eを演算する第2の演算状態とを切り替えるようにしている。【選択図】図3
VEHICLE BODY SLIP ANGLE ESTIMATING DEVICE
車体すべり角推定装置
2021-10-14
Patent
Electronic Resource
Japanese
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