| 摘要 |
Provided is a vehicle longitudinal force estimation device that achieves reduced manufacturing costs and is capable of accurately estimating longitudinal forces acting on the wheels even in the event of an unexpected torque loss. This estimation device is provided with: a vehicle speed calculation means (25) for calculating the vehicle speed of each of a plurality of independently driven wheels (2, 3); and a speed difference calculation means (26) for calculating the difference in the calculated vehicle speeds between the wheels. The estimation device is provided with: a normal-state longitudinal force estimation means (28) for estimating the longitudinal force on each wheel (2, 3) using a prescribed motion equation with respect to all of the wheels (2, 3) when the differences in the vehicle speeds are all equal to or smaller than a threshold value; and an abnormal-state longitudinal force estimation means (29) for estimating, upon determining that an arbitrary wheel (2, 3) is an abnormal wheel when the vehicle speed difference between the arbitrary wheel (2, 3) and the other wheels (2, 3) is larger than the threshold value, the longitudinal force on the abnormal wheel by estimating the longitudinal forces on the other wheels (2, 3) using the motion equation and subtracting the total of the longitudinal forces on the other wheels (2, 3) from the longitudinal forces acting on the vehicle. |
