VEHICLE ATTITUDE ANGLE ESTIMATION DEVICE AND PROGRAM

摘要

PROBLEM TO BE SOLVED: To estimate an attitude angle with high precision even in the case of a sharp upslope the attitude angle of which becomes large. SOLUTION: A state quantity deviation low pass filter value calculation means 26 calculates the deviation of longitudinal acceleration state quantity, the deviation of lateral acceleration state quantity and the deviation of vertical acceleration state quantity, to which low pass filter processing has been performed. A feedback gain setting means 30 sets the absolute values of the feedback gains of the deviation of the longitudinal acceleration state quantity and the deviation of the lateral acceleration state quantity so as to be larger according as the absolute value of the estimation value of a roll angle and the absolute value of the estimation value of a pitch angle are larger. An attitude angle estimation means 28 estimates the roll angle and the pitch angle by feeding back the calculated deviation of the longitudinal acceleration state quantity, the calculated deviation of the lateral acceleration state quantity and the calculated deviation of the vertical acceleration state quantity. COPYRIGHT: (C)2010,JPO&INPIT