| 摘要 |
While keeping the sum of torques for all four driving wheels constant, a torque control part (710) sequentially determines torque control values such that the rotational speed of a first selected driving wheel pair (WH FL , WH RL ), the rotational speed of a second selected driving wheel pair (WH FL , WH RR ), and the rotational speed of a third selected driving wheel pair (WH FR , WH RR ) become the same. Then, a driving force estimation part (720) estimates driving forces of the driving wheels on the basis of the determined torque control values. Subsequently, a centroid estimation part (750) calculates ratio (k d1 ) (= (F d,FR /F d,RR )k d3 ), ratio (k d2 ) (= (F d,RL /F d,FL )), and ratio (k d3 ) (= (F d,RR /F d,FL )) of the driving forces from information about the correlation among the driving forces of the first through third selected driving wheel pairs. Then, the centroid estimation part (750) estimates the centroid position of a moving body (MV) on the basis of the ratios (k d1 , k d2 , k d3 ) of the relevant driving forces. Consequently, the centroid of the moving body can be estimated with a simple configuration without the provision of any special sensors. |
