To provide a vehicle body speed estimation device which can improve estimation accuracy of the vehicle body speed.SOLUTION: A vehicle body speed estimation device 7 estimates a vehicle body speed of a dump truck 1 in which pressure sensors 5a, 5b are arranged at least at two positions in a front-back direction of the vehicle. The vehicle body speed estimation device 7 comprises the steps of: estimating loads at the arrangement position of the pressure sensors 5a, 5b based on the front-back direction acceleration detected by an acceleration meter installed in the dump truck 1 and a first motion model simulating vertical motion of the vehicle; estimating road surface disturbance force generated by road surface inclination based on a difference between the estimated loads and the loads detected by the pressure sensor 5a, 5b; estimating a road surface inclination angle based on the estimated road surface disturbance force; and estimating the vehicle body speed based on the estimated road surface inclination angle.SELECTED DRAWING: Figure 2

    【課題】車体速度の推定精度を高めることができる車体速度推定装置を提供する。【解決手段】車体速度推定装置7は、車両の前後方向の少なくとも2箇所に圧力センサ5a,5bが配置されたダンプトラック1に対し、車体速度を推定する。この車体速度推定装置7は、ダンプトラック1に配置された加速度計により検出された前後方向加速度と、車両の上下運動を模擬する第1運動モデルとを用いて圧力センサ5a,5bの配置位置での荷重を推定し、推定した荷重と圧力センサ5a,5bにより検出された荷重との差分に基づいて、路面傾斜によって発生する路面外乱力を推定し、推定した路面外乱力に基づいて路面傾斜角を推定し、推定した路面傾斜角に基づいて車体速度を推定する。【選択図】図2


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    Title :

    VEHICLE BODY SPEED ESTIMATION DEVICE


    Additional title:

    車体速度推定装置


    Contributors:

    Publication date :

    2022-12-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes



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