VEHICLE STATE ESTIMATION DEVICE

摘要

Provided is a vehicle state estimation device (10) having a calculation unit (28) that calculates state quantities of at least a sprung of a vehicle based on wheel speeds of front left and right wheels and rear left and right wheels detected by detection devices. The calculation unit (28) calculates in-phase and reverse phase components of wheel speeds of left and right wheels for the front and rear wheels and calculates a pitch angular speed and a yaw angular speed of the sprung based on the in-phase and reverse phase components of the wheel speeds, respectively. The calculation unit (28) calculates in-phase and reverse phase components of vertical strokes of left and right suspensions for the front and rear wheels and calculates a vertical speed and a roll angular speed of the sprung based on the in-phase and reverse phase components of vertical strokes of the suspensions, respectively.

主权项

1. A vehicle state estimation device which is applied to a vehicle having front left and right wheels and rear left and right wheels and a sprung including vehicle body from which the wheels are suspended by suspensions that can expand and contract at least vertically, and comprises wheel speed detection devices that detect wheel speeds of the four wheels and a calculation unit that is configured to calculate state quantities of at least the sprung on the basis of detected wheel speeds of the four wheels, wherein:
the calculation unit is configured to calculate an in-phase component of wheel speeds of left and right wheels and a reverse phase component of wheel speeds of left and right wheels for the front and rear wheels, and to calculate a pitch angular speed of the sprung and a yaw angular speed of the sprung on the basis of the in-phase component of wheel speeds of left and right wheels and the reverse phase component of wheel speeds of left and right wheels, respectively.