VEHICLE ROLL ANGLE ESTIMATION DEVICE

摘要

A device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. A roll angle estimated value calculation portion calculates an estimated value of the roll angle by integrating a value obtained by correcting an estimated value of roll angle velocity of a vehicle body by use of a correction value, or by correcting a value obtained by integrating an estimated value of roll angle velocity by use of a correction value. The correction value is calculated by use of a detection value of speed of the vehicle body in the traveling direction, detection values of angular velocity and acceleration detected by sensors mounted on the vehicle body, a previous estimated value of the roll angle, and a previous estimated value of the pitch angle of the vehicle body.

主权项

1. A device for successively estimating a roll angle of a vehicle body, comprising:
an acceleration and angular velocity detector including an acceleration sensor and an angular velocity sensor mounted on said vehicle body, and when an axis extending in the front-rear direction of the vehicle body, an axis extending in the vehicle width direction of the vehicle body, and an axis extending in the up-down direction of the vehicle body are respectively defined as an x axis, a y axis, and a z axis of a local coordinate system fixed to the vehicle body, configured to be capable of detecting x-axis acceleration which is acceleration in the x-axis direction, y-axis acceleration which is acceleration in the y-axis direction, x-axis angular velocity which is angular velocity about the x axis, and z-axis angular velocity which is angular velocity about the z axis; a vehicle speed detector configured to detect a speed of said vehicle body in a traveling direction; a pitch angle estimator configured to successively estimate a pitch angle of said vehicle body, and calculate an estimated value of the current pitch angle by use of a detection value of speed in the traveling direction detected by said vehicle speed detector, a detection value of x-axis acceleration detected by said acceleration and angular velocity detector, and a previous estimated value of said pitch angle; a roll angle velocity estimator configured to successively estimate roll angle velocity of said vehicle body, and calculate an estimated value of the current roll angle velocity by use of detection values of x-axis angular velocity and z-axis angular velocity detected by said acceleration and angular velocity detector, a previous estimated value of said roll angle, and a previous estimated value of the pitch angle estimated by said pitch angle estimator; a correction value calculator configured to successively calculate a correction value for estimating the roll angle of said vehicle body, and calculate said correction value by use of a detection value of speed in the traveling direction detected by said vehicle speed detector, detection values of z-axis angular velocity and y-axis acceleration detected by said acceleration and angular velocity detector, a previous estimated value of said roll angle, and a previous estimated value of the pitch angle estimated by said pitch angle estimator; and roll angle estimated value calculator configured to calculate an estimated value of the current roll angle of said vehicle body by integrating a value obtained by correcting an estimated value of roll angle velocity estimated by said roll angle velocity estimator by use of a calculated value of the correction value calculated by said correction value calculator, or by correcting a value obtained by integrating an estimated value of said roll angle velocity estimated by said roll angle velocity estimator by use of a calculated value of the correction value calculated by said correction value calculator.