| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle body state amount estimation device which can further accurately estimate a vehicle body state amount.SOLUTION: A vehicle body state amount estimation device which is applied to a vehicle having wheel speed acquisition means for acquiring a wheel speed of a wheel attached to the vehicle comprises: a road face input calculation part which makes a reverse matrix of the integration of a vehicle motion model matrix indicating a mechanical vehicle motion model of the vehicle, and a vehicle speed influence element model matrix indicating a vehicle speed influence element model using three wheel speed influence elements of an influence amount caused by a pitch around a center of gravity of a vehicle body being an element which affects the wheel speed, a suspension geometry influence amount, and a wheel rolling radius change influence amount act on the acquired wheel speed; and a vehicle body state amount calculation part which calculates an estimation value of the vehicle body state amount by making the vehicle motion model matrix act on an estimation value of the calculated road face input.SELECTED DRAWING: Figure 1 |
