Bank angle detecting device for vehicle

摘要

A bank angle detecting device includes an angular velocity sensor for detecting a roll rate and a yaw rate of the vehicle, a roll rate estimating circuit for calculating an estimated roll rate, which is an angular velocity about a forward and rearward axis, on the basis of the roll rate, the yaw rate and a travelling speed, a bank angle estimator for calculating an estimated bank angle from the estimated roll rate, a straightforward travel determiner for determining a straightforward travelling condition on the basis of the estimated roll rate and an estimated yaw rate, a time-of-straight-forward-travel drift amount estimator for estimating a time-of-straight-forward drift amount from an output of the angular sensor in the event that the straightforward travel determiner determines a straightforward travel, and an angular velocity corrector for correcting the output of the angular velocity sensor with the time-of-straight-forward drift amount.

主权项

1. A bank angle detecting device for a vehicle, which comprises:
an angular velocity sensor for acquiring a detection value containing respective component of a roll rate, which is an angular velocity about a forward and rearward axis of the vehicle, and a yaw rate, which is an angular velocity about a vertical axis of the vehicle; a roll rate estimator for calculating an estimated roll rate on the basis of the detection value of the angular velocity and a travelling speed of the vehicle; a bank angle estimator for calculating an estimated bank angle of the vehicle from the estimated roll rate; a yaw rate estimator for calculating an estimated yaw rate on the basis of the estimated bank angle and the travelling speed; a straight forward travel determiner for determining a straight forward travelling condition of the vehicle during the travel of the vehicle on the basis of the estimated roll rate and the estimated yaw rate; a time-of-straight-forward-travel drift amount estimator for determining an output of the angular velocity sensor as a sensor drift amount during the straight forward travel of the vehicle in the event that the straight forward travel determiner determines the straight forward travelling condition; and an angular velocity corrector for correcting the output of the angular velocity sensor so that the sensor drift amount estimated by the time-of-straight-forward-travel drift amount estimator is subtracted from the output of the angular velocity sensor, wherein the straight forward travel determiner determines the straight forward travelling condition in the event that a condition, in which the estimated roll rate is lower than a first predetermined determination value, continues for a first predetermined length of time and, also, a condition, in which the estimated yaw rate is lower than a second predetermined determination value, continues for a second predetermined length of time.