VEHICLE BODY STATE QUANTITY ESTIMATING DEVICE

摘要

A device includes a road surface input calculating unit that calculates an estimated value of a road surface input to the wheel, by letting an inverse matrix of a product of a vehicle motion model matrix and a wheel speed influencing element model matrix act on a wheel speed of a vehicle. The vehicle motion model matrix represents a mechanical vehicle motion model, and the wheel speed influencing element model matrix using a quantity of influence due to pitch about a center of gravity of a vehicle body, a suspension geometry influence quantity, and a quantity of influence of a change in a rolling radius of the wheel. The device also includes a vehicle body state quantity calculating unit that calculates an estimated value of a vehicle body state quantity by letting the vehicle motion model matrix on the calculated estimated value of the road surface input.

主权项

1. A vehicle body state quantity estimating device adaptable to a vehicle including a wheel speed sensor that obtains a wheel speed of a wheel mounted on the vehicle, comprising:
a road surface input calculating unit that calculates an estimated value of a road surface input to the wheel, by letting an inverse matrix of a product of a vehicle motion model matrix and a wheel speed influencing element model matrix act on the obtained wheel speed, the vehicle motion model matrix representing a mechanical vehicle motion model of the vehicle, the wheel speed influencing element model matrix representing a wheel speed influencing element model using three wheel speed influencing elements as elements that influence the wheel speed, the wheel speed influencing elements comprising a quantity of influence due to pitch about a center of gravity of a vehicle body, a suspension geometry influence quantity, and a quantity of influence of a change in a rolling radius of the wheel; and a vehicle body state quantity calculating unit that calculates an estimated value of a vehicle body state quantity by letting the vehicle motion model matrix on the estimated value of the road surface input calculated by the road surface input calculating unit.