| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an acceleration estimation device capable of estimating precisely an acceleration of a vehicle, and the vehicle provided therewith. <P>SOLUTION: In this acceleration estimation device, a Kalman filter 330 for a constant speed estimates an x-direction acceleration offset and a z-direction acceleration offset when a motorcycle 100 is stopped and travels at constant speed. An offset storage part 350 stores an x-direction acceleration offset estimated value and a z-direction acceleration offset estimated value. An offset correction part 360 corrects an x-direction acceleration and a z-direction acceleration, based on the x-direction acceleration offset estimated value and the z-direction acceleration offset estimated value when accelerated and decelerated. A Kalman filter 340 for acceleration/deceleration estimates a pitch angle of a vehicle body 1 when accelerated and decelerated. An acceleration correction part 370 obtains an x-direction acceleration and a z-direction acceleration, based on the estimated pitch angle. A vehicle speed computing part 380 calculates an x-direction speed by time integration of the x-direction acceleration. <P>COPYRIGHT: (C)2008,JPO&INPIT |
