| 摘要 |
PROBLEM TO BE SOLVED: To estimate a roll angle from relations between lateral components of vehicle motion in a low frequency range that is not affected by spins and the like, and the effects of vehicle attitude angles. SOLUTION: A vehicle physical quantity estimating apparatus comprises an estimation means 10 for estimating a longitudinal vehicle body speed from wheel speeds, an estimation means 16 for estimating the pitch angle from the longitudinal vehicle body speed estimate and a detected value of longitudinal acceleration of detected vehicle motion; a deviation computation means 18 for computing deviation of the lateral acceleration state quantity, depending on the vehicle attitude angles from the longitudinal vehicle body speed estimate; the pitch angle estimate and detected values of lateral acceleration and yaw speed of the detected vehicle motion; a low-pass filter 20 for transmitting only signals, representing the lateral acceleration state quantity deviation which correspond to the motion of interest; and an estimation means 22 for estimating the roll angle from the low-pass-filtered signals, representing the lateral acceleration state quantity deviation, the pitch angle estimate and detected values of yaw speed and roll velocity. COPYRIGHT: (C)2008,JPO&INPIT
|
