SENSOR DRIFT AMOUNT ESTIMATION DEVICE AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To stably estimate a drift amount of a sensor regardless of vehicle motion.SOLUTION: Drift amount estimation means 32 estimates a sensor drift amount of a sensor signal by using a relation in which the derivative amount of a posture angle calculated by a posture angle observer 26 and a value in which the sensor drift amount is considered in the derivative amount of a posture angle calculated by motion equation derivative amount calculation means 30 are equal; a relation in which the derivative amount of vehicle speed calculated by a slip angle observer 28 and the value in which the sensor drift amount is considered in the derivative amount of vehicle speed calculated by the motion equation derivative amount calculation means 30 are equal; and a relation in which a vehicle body yaw angle calculated by vehicle body yaw angle calculation means 44 and a value in which the sensor drift amount is considered in the derivative amount of a vehicle body yaw angle calculated by the motion equation derivative amount calculation means 30, in which the value is integrated, are equal.