PROBLEM TO BE SOLVED: To provide a road surface gradient estimation device for accurately estimating a road surface gradient by reducing an estimation error caused by a pitching motion generated in a vehicle, and a road surface gradient estimation method.SOLUTION: A road surface gradient estimation device 30 comprises a vehicle speed sensor 26, an acceleration sensor 27 and a road surface gradient calculation part 31. The road surface gradient calculation part 31 comprises: an estimation part 32 for estimating a road surface gradient; a filter part 34 for applying filter processing to an inputted value by using a low-pass filter having a variable time constant tc, and outputting it; and a change part 35 to which a differential value vx' which is obtained by time-differentiating a vehicle speed vx obtained by the vehicle speed sensor 26 is input, and which changes the time constant tc according to the differential value vx'.SELECTED DRAWING: Figure 3
【課題】車両に生じるピッチング運動による推定誤差を低減して、路面勾配を高精度に推定する路面勾配推定装置及び路面勾配推定方法を提供する。【解決手段】路面勾配推定装置30は、車速センサ26と、加速度センサ27と、路面勾配演算部31とを備え、路面勾配演算部31が、路面勾配を推定する推定部32と、入力されたその値に対して可変自在の時定数tcを有するローパスフィルタでフィルタ処理を施して出力するフィルタ部34と、車速センサ26により取得した車速vxを時間微分した微分値vx’が入力されて、この微分値vx’に応じて、時定数tcを変更する変更部35と、を備えて構成される。【選択図】図3
ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
路面勾配推定装置及び路面勾配推定方法
2018-02-01
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
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|ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
European Patent Office | 2017
|ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
European Patent Office | 2017
|ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
European Patent Office | 2018
|ROAD SURFACE GRADIENT ESTIMATION DEVICE AND ROAD SURFACE GRADIENT ESTIMATION METHOD
European Patent Office | 2017
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