A vehicle state estimation device for a vehicle provided with an inertial measurement sensor and a wheel speed sensor includes: a vehicle state estimation unit that estimates a vehicle state including a vehicle velocity based on an acceleration and an angular velocity acquired by the inertial measurement sensor and a wheel speed acquired by the wheel speed sensor; and a determination unit that determines whether a wheel is slipping. The estimation unit estimates a steady-state vehicle velocity based on the wheel speed and calculates a transient vehicle velocity by time integration based on the acceleration and the angular velocity. When the wheel is slipping, the estimation unit decides an estimated value of the vehicle velocity to be close to the transient vehicle velocity, and when the wheel is not slipping, the estimation unit decides the estimated value of the vehicle velocity to be close to the steady-state vehicle velocity.


    Access

    Download


    Export, share and cite



    Title :

    VEHICLE STATE ESTIMATION DEVICE, VEHICLE STATE ESTIMATION METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM


    Contributors:

    Publication date :

    2022-06-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen