| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle state estimation device, a vehicle state estimation method, and a vehicle controller capable of highly accurately estimating a vehicle state variable from wheel speeds irrespective of a change in vehicle characteristics.SOLUTION: The present invention provides a vehicle state estimation device comprising: wheel speed detection means 4 detecting a wheel speed of each wheel of a vehicle; vehicle velocity detection means detecting a vehicle velocity of the vehicle; and state variable estimation means 21 estimating an unsprung state variable and/or a spring state variable of the vehicle on the basis of a wheel speed of right and left wheels opposite in phase based on the wheel speed of each wheel detected by the wheel speed detection means 4, and of a value obtained by dividing a wheelbase between predetermined front and rear wheels by the vehicle velocity detected by the vehicle velocity detection means. |
