To increase precision of an estimation on a vehicle state by a vehicle state estimation device which estimates the vehicle state as compared with a case in which an estimate of the vehicle state is always acquired by numeric value integration.SOLUTION: There is provided a vehicle state estimation device 1 which is mounted on a vehicle S comprising an inertia measuring sensor 5 acquiring acceleration and an angular speed and a wheel speed sensor 9 acquiring a wheel speed, and estimates a vehicle state. The vehicle state estimation device has a vehicle state estimation part 31 which estimates a vehicle state based upon the acceleration and angular speed obtained by the inertia measuring sensor and the wheel speed obtained by the wheel speed sensor, and a determination part 41 which determines whether wheels are in a sliding state, wherein the vehicle state estimation part determines, for a transient vehicle speed calculated through time integration based upon a stationary vehicle speed, acceleration, and an angular speed estimated based upon the wheel speed, an estimate of the vehicle speed close to the transient vehicle speed when the wheels are in a sliding state, and also determines an estimate of the vehicle speed close to the stationary vehicle speed when the wheels are not in a sliding state.SELECTED DRAWING: Figure 4
【課題】 車両状態を推定する車両状態推定装置において、車両状態の推定値を常に数値積分によって取得する場合に比べて、車両状態の推定精度を高める。【解決手段】 加速度、及び、角速度を取得する慣性計測センサ5と、車輪速を取得する車輪速センサ9とを備えた車両Sに搭載され、車両状態を推定する車両状態推定装置1であって、慣性計測センサによる加速度及び角速度と、車輪速センサによる車輪速とに基づいて、車両状態を推定する車両状態推定部31と、車輪が滑走状態にあるかを判定する判定部41とを有し、車両状態推定部は、車輪速に基づいて推定される定常車速と、加速度及び角速度に基づいて時間積分により算出される過渡車速とに対し、車輪が滑走状態にあるときには車速の推定値を過渡車速に近くなるように決定し、車輪が滑走状態にないときには車速の推定値を定常車速に近くなるように決定する。【選択図】 図4
VEHICLE STATE ESTIMATION DEVICE, VEHICLE STATE ESTIMATION METHOD AND VEHICLE STATE ESTIMATION PROGRAM
車両状態推定装置、車両状態推定方法、及び、車両状態推定プログラム
2022-07-08
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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