| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle characteristic information deducing device capable of simultaneously deducing a center of gravity position of a vehicle, inertial moment, and cornering power of a tire, in real time, at low cost in a traveling environment.SOLUTION: The vehicle characteristic information deducing device 10 acquires sensor information including the speed of the vehicle, yaw rate, lateral acceleration, longitudinal acceleration, and a steering angle; and deduces vehicle characteristic information, including a center of gravity position of the vehicle, inertia moment, and cornering power of a tire based on the sensor information. The vehicle characteristic information deducing device 10 includes a lateral slip angle deducing unit 14 for deducing a lateral slip angle from the speed, the yaw rate, and the lateral acceleration; a parameter deducing unit 15 for deducing parameters included in a motion model, by applying the motion model of the vehicle to the speed, the yaw rate, the lateral acceleration, the longitudinal acceleration, the steering angle, and the lateral slip angle estimated by the lateral slip angle deducing unit 14; and a data converting unit 16 for acquiring vehicle characteristic information by converting the parameters. |
