ROLL ANGLE ESTIMATION DEVICE AND TRANSPORT EQUIPMENT

摘要

The disclosed roll angle estimation device has a Kalman filter which estimates the roll angle of the vehicle body, the vehicle velocity, the roll angle velocity sensor offset, the yaw angle velocity sensor offset, and the vertical acceleration sensor offset, based on the detection values of the roll angle velocity sensor, the yaw angle velocity sensor, the vertical acceleration sensor, the longitudinal acceleration sensor, the lateral acceleration sensor, and the rear-wheel velocity sensor and also based on the estimated values of the roll angle, the vehicle velocity, the roll angle velocity sensor offset, the yaw angle velocity sensor offset, and the vertical acceleration sensor offset that were found in the previous estimation operation.