PROBLEM TO BE SOLVED: To accurately estimate the gradient of a road a vehicle travels on.SOLUTION: An estimation apparatus includes: a vehicular speed sensor 21 for detecting a vehicular speed; an acceleration sensor 24 for detecting acceleration in forward and reverse directions; a yaw rate sensor 25 for detecting a value for determining whether or not a vehicle is turning; an acceleration calculation part 511 for calculating acceleration in forward and reverse directions on the basis of the vehicular speed detected by the vehicular speed sensor 21; a low-pass filter 512 for applying, and output, filtering processing to respectively the acceleration detected by the acceleration sensor 24 and the acceleration calculated by the acceleration calculation part 511 for eliminating noise components; a road gradient estimation part 513 for estimating a gradient of a road on which a vehicle is traveling on the basis of the output value of the low-pass filter 512; an in-turning determination part 515 for determining whether or not the vehicle is turning on the basis of the detection value of the yaw rate sensor 25; and a filter characteristic change part 514 for changing a characteristic of the filtering processing on the basis of the determination result of the in-turning determination part 515.SELECTED DRAWING: Figure 3
【課題】車両が走行する路面の勾配を精度良く推定する。【解決手段】車速を検出する車速センサ21と、前後方向の加速度を検出する加速度センサ24と、旋回時か否かを判定するための値を検出するヨーレイトセンサ25と、車速センサ21により検出される車速に基づいて前後方向の加速度を算出する加速度算出部511と、加速度センサ24により検出された加速度及び加速度算出部511により算出された加速度のそれぞれに対してノイズ成分を除去するためのフィルタ処理を施して出力するローパスフィルタ512と、ローパスフィルタ512の出力値に基づいて走行する路面の勾配を推定する路面勾配推定部513と、ヨーレイトセンサ25の検出値に基づいて旋回時であるか否かを判定する旋回時判定部515と、旋回時判定部515の判定結果に基づいてフィルタ処理の特性を変更するフィルタ特性変更部514とを備える。【選択図】図3
ROAD GRADIENT ESTIMATION APPARATUS
路面勾配推定装置
2016-12-22
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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