| 摘要 |
PROBLEM TO BE SOLVED: To stably and precisely detect various state quantity generated on a vehicle. SOLUTION: An elliptical marker is marked on a road surface to travel on. The marker is photographed by a camera arranged immediately downward on a lower part of the vehicle and translational speed in the longitudinal direction and in the lateral direction of the vehicle is computed from a relative positional change against the vehicle at a center-of-gravity position of the marker. A yaw angle and yaw angle speed are computed from a rotational state. A pitch angle and pitch angle speed are computed from a change in the major axial direction of the marker, and a rolling angle and rolling angle speed are computed from a change in the minor axial direction. Heel of the present road surface is computed by computing an increment of heel of the road surface previously computed in accordance with at least either one of relations of a relation of acceleration in the vertical direction, translational speed in the longitudinal direction, a radius of revolution and the heel of the road surface previously computed and a relation of acceleration in the lateral direction, the translational speed in the longitudinal direction, the radius of revolution and the heel of the road surface previously computed in accordance with a signal from a force detection sensor to detect force working in the vertical direction from the road surface on each of the wheels and a signal from a lateral acceleration sensor. COPYRIGHT: (C)2005,JPO&NCIPI
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