| 摘要 |
PROBLEM TO BE SOLVED: To make estimable the mass of a vehicle with high accuracy, irrespective of the type of the vehicle by taking in the output of a vehicle speed sensor, obtaining the accelerations at a plurality of time points by different driving forces, using a specified formula, and obtaining the driving force by referring to a map from the accelerator openings at the time points and a plurality of used gear ratios. SOLUTION: A mass estimator part 72 holds equation I for obtaining the vehicle accelerationαfrom the driving force F, vehicle mass W, vehicle running resistance, and road surface gradientθwhereinμrW,μeAV2, WrA are vehicle running resistances. An acceleration calculator part 71 takes in the output V of a wheel rotation sensor 55 and differentiates it in time to calculate the vehicle acceleration. The mass estimator part 72 obtains driving forces FA, FB by referring to a map 74 from the accelerator opening at the time and a plurality of used gear ratios A, B, and substitutes accelerationsαA,αB in Formula II to set up simultaneous equations, thereby obtaining the vehicle wt. W from the simultaneous equations where WrA, WrB are masses corresponding to rotary parts. |
