To appropriately restrict an estimated value of a gradient to estimate the gradient.SOLUTION: A gradient estimation device 1 includes: a storage unit 11 that stores a design speed of a road and a radius of a longitudinal section curve of the road determined in accordance with the design speed, in association with each other; a design speed specifying unit 123 that specifies the design speed of a road on which a vehicle is traveling; a radius specifying unit 125 that, by referring to the storage unit 11, specifies the radius of the longitudinal section curve corresponding to the specified design speed; an upper/lower limit setting unit 126 that sets a value obtained by dividing the design speed by the radius of the longitudinal section curve, as an upper or lower limit of a rate of change of the gradient for restricting an estimated value of the gradient of the road; and a gradient estimation unit 124 that sequentially estimates the gradient of the road on which the vehicle is traveling such that the rate of change of the estimated value of the gradient of the road on which the vehicle is traveling does not exceed the set upper or lower limit.SELECTED DRAWING: Figure 1
【課題】勾配の推定値を適切に制限して、勾配を推定する。【解決手段】勾配推定装置1は、道路の設計速度と、設計速度に応じて定められた道路の縦断曲線の半径とを対応付けて記憶する記憶部11と、車両が走行している道路の設計速度を特定する設計速度特定部123と、記憶部11を参照することにより、特定した設計速度に対応する縦断曲線の半径を特定する半径特定部125と、設計速度を縦断曲線の半径で除算した値を、道路の勾配の推定値を制限するための、勾配の変化率の上限又は下限として設定する上下限設定部126と、車両が走行する道路の勾配の推定値の変化率が、設定した上限又は下限を超えないように、車両が走行する道路の勾配を順次推定する勾配推定部124と、を備える。【選択図】図1
GRADIENT ESTIMATION DEVICE
勾配推定装置
2022-02-18
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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