To provide a gradient estimation device which can further accurately estimate a gradient.SOLUTION: A gradient estimation device 120 for estimating a gradient of a traveling road on which a vehicle U travels, comprises: an input part 120a for acquiring a detection value of an acceleration sensor 40a for detecting the acceleration of the vehicle U in a fore-and-aft direction; a centripetal force detection part 120c for detecting a centripetal force acting on the acceleration sensor 40a resulting from a turning motion of the vehicle U; and a gradient calculation part 120b for calculating the gradient of the traveling road on which the vehicle U travels on the basis of the detection value of the acceleration sensor 40a. When the vehicle U is in the turning motion, the gradient estimation part 120b acquires a component of the centripetal force superimposed on the detection value of the acceleration sensor 40a from a positional relationship of three points of a turning center position P1 of the vehicle U, a gravity center position P2 of the vehicle U and an installation position P3 of the acceleration sensor 40a, and after subtracting the component of the centripetal force from the detection value of the acceleration sensor 40a, calculates the gradient of the traveling road.SELECTED DRAWING: Figure 4
【課題】より高精度な勾配推定を可能とする勾配推定装置を提供すること。【解決手段】車両が走行する走行路の勾配を推定する勾配推定装置120であって、前記車両Uの前後方向の加速度を検出する加速度センサ40aの検出値を取得する入力部120aと、前記車両の旋回運動に起因して前記加速度センサ40aに作用する向心力を検出する向心力検出部120cと、前記加速度センサ40aの検出値に基づいて、前記車両Uが走行する走行路の勾配を算出する勾配算出部120bと、を備え、前記勾配算出部120bは、前記車両Uが旋回運動している際には、前記車両Uの旋回中心位置P1、前記車両Uの重心位置P2、及び、前記加速度センサ40aの設置位置P3の3点の位置関係から前記加速度センサ40aの検出値に重畳する前記向心力の成分を求め、前記加速度センサ40aの検出値から前記向心力の成分を減算した上で、前記走行路の勾配を算出する。【選択図】図4
GRADIENT ESTIMATION DEVICE AND VEHICLE
勾配推定装置、及び車両
2019-10-10
Patent
Electronic Resource
Japanese
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