PROBLEM TO BE SOLVED: To provide a vehicle speed estimation device of a four-wheel drive vehicle which can accurately estimate a vehicle speed at not only direct advance but also a turn, and is simple in an estimation procedure of the vehicle speed.SOLUTION: Each-wheel vehicle speed equivalent amount calculation means 6 is arranged which calculates a vehicle speed equivalent amount Vbeing a speed which is equivalent to a vehicle speed from a wheel angle speed ω in each wheel 2 by using a yaw angle speed γ of a vehicle 1. Means 7 is arranged which acquires a first vehicle speed change amount α' being a vehicle speed change amount per unit time of the vehicle speed equivalent amount which becomes minimum or maximum out of the vehicle speed equivalent amount Vaccording to a positive value or a negative value of the fore-and-aft acceleration of the vehicle 1. Vehicle speed estimation means 8 is arranged which acquires the vehicle speed V corresponding to the presence or absence of a slip by comparing an absolute value |α-α'| of a difference between a second vehicle speed change amount αbeing acceleration in a vehicle fore-and-aft direction and the first vehicle speed change amount α' with a threshold δ.SELECTED DRAWING: Figure 1

    【課題】 直進時だけでなく旋回時でも車両速度を精度良く推定でき、かつ車両速度の推定手順が簡素な四輪駆動車両の車両速度推定装置を提供する。【解決手段】 車両1のヨー角速度γを用いて各車輪2における車輪角速度ωから車両速度に相当する速度である車両速度相当量Viを計算する各車輪車両速度相当量計算手段6を設ける。車両1の前後加速度の正負に応じて、前記車両速度相当量Viのうちの最小値または最大値となる車両速度相当量の単位時間当たりの車速変化量である第一の車速変化量αx′を求める手段7を設ける。車両前後方向の加速度である第二の車速変化量αxと前記第一の車速変化量αx′との差の絶対値|αx−αx′|をしきい値δと比較することで、スリップの有無に対応した車両速度Vを求める車両速度推定手段8を設ける。【選択図】 図1


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    Title :

    VEHICLE SPEED ESTIMATION DEVICE OF FOUR-WHEEL DRIVE VEHICLE AND CONTROL DEVICE


    Additional title:

    四輪駆動車両の車両速度推定装置および制御装置


    Contributors:

    Publication date :

    2016-05-26


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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