Ground speed detection device for vehicle
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorsSeiji Azuma, Yoshimoto Matsuda, Daisuke Kawai, Takashi Okashiro
Life of this patent
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Abstract
A ground speed detection device for a vehicle includes a wheel speed sensor configured to detect a rotational speed of a wheel, a second storage section having stored a radius of the wheel corresponding to a bank angle, and a ground speed calculator configured to calculate a ground speed during cornering. The ground speed calculator extracts the radius of the wheel corresponding to a bank angle detected by a bank angle detection device, from the second storage section, and calculates the ground speed during cornering from the extracted radius of the wheel and the rotational speed of the wheel detected by the wheel speed sensor.
Claims15
A ground speed detection device for a vehicle that corners in a banked condition, the ground speed detection device comprising:
- a front wheel speed sensor configured to detect rotational speed of a front wheel;
- a rear wheel speed sensor configured to detect rotational speed of a rear wheel;
- a bank amount sensor configured to detect an amount of bank of a vehicle body on the basis of a detected angular velocity of the vehicle and at least one of the rotational speed of the front wheel or the rotational speed of the rear wheel;
- a storage section having stored a radial dimension, between an axle and a road surface contact point of each of the front wheel and the rear wheel, which dimension varies according to the amount of bank of the vehicle body;
- and
- a ground speed calculator configured:
- to extract the radial dimension corresponding to the amount of bank detected by the bank amount sensor, from the storage section,
- to calculate a ground speed of the vehicle during cornering on the basis of the extracted radial dimension, the rotational speed of the front wheel detected by the front wheel speed sensor, and the rotational speed of the rear wheel detected by the rear wheel speed sensor, and
- to output the calculated ground speed of the vehicle to an electronic control unit,
- wherein the ground speed detection device selects the front wheel speed sensor or the rear wheel speed sensor for calculating the ground speed on the basis of a predetermined selection condition,
- wherein at a time of corner exit, the ground speed is calculated by using only the front wheel speed sensor, and
- at a time of corner entry, the ground speed is calculated by using only the rear wheel speed sensor.
A ground speed detection device for a vehicle that corners in a banked condition, the ground speed detection device comprising:
- a wheel speed sensor configured to detect a rotational speed of a wheel;
- a bank amount sensor configured to detect an amount of bank of a vehicle body, the bank amount sensor including:
- an angular velocity sensor,
- an inertia force sensor,
- a roll rate estimation circuit which estimates a roll rate on the basis of an output value from the angular velocity sensor and a ground speed,
- a low-pass filter configured to remove noise from an output value of the inertia force sensor, and
- a change preventer that inhibits a change in the estimated roll rate;
- a storage section having stored a radial dimension, between an axle and a road surface contact point of the wheel, corresponding to the amount of bank of the vehicle body;
- and
- a ground speed calculator configured to extract the radial dimension corresponding to the amount of bank detected by the bank amount sensor, from the storage section, and to calculate the ground speed of the vehicle during cornering on the basis of the extracted radial dimension and the rotational speed of the wheel detected by the wheel speed sensor,
- wherein the bank amount sensor detects the amount of bank based on a previously calculated ground speed from the ground speed calculator.
A ground speed detection device for a vehicle that corners in a banked condition, the ground speed detection device comprising:
- a wheel speed sensor configured to detect a rotational speed of a wheel;
- a bank amount sensor configured to estimate an amount of bank of a vehicle body;
- a storage section storing a radial dimension, between an axis and a road surface contact point of the wheel, corresponding to the amount of bank of the vehicle body;
- and
- a ground speed calculator configured to extract the radial dimension corresponding to the amount of bank estimated by the bank amount sensor, from the storage section, and to iteratively calculate a current ground speed of the vehicle on the basis of the extracted radial dimension and the rotational speed of the wheel detected by the wheel speed sensor, and to output the calculated current ground speed of the vehicle to an electronic control unit, wherein
- the bank amount sensor estimates the amount of bank, based on a previously calculated ground speed from the ground speed calculator.
A ground speed detection device for a vehicle that corners in a banked condition, the ground speed detection device comprising:
- a front wheel speed sensor configured to detect rotational speed of a front wheel;
- a rear wheel speed sensor configured to detect rotational speed of a rear wheel;
- a bank amount sensor configured to detect an amount of bank of a vehicle body;
- a storage section having stored a radial dimension, between an axle and a road surface contact point of each of the front wheel and the rear wheel, which dimension varies according to the amount of bank of the vehicle body;
- and
- a ground speed calculator configured:
- to extract the radial dimension corresponding to the amount of bank detected by the bank amount sensor, from the storage section,
- to calculate a ground speed of the vehicle during cornering on the basis of the extracted radial dimension and the rotational speed of one of the front wheel detected by the front wheel speed sensor or the rear wheel detected by the rear wheel speed sensor, and
- to output the calculated ground speed of the vehicle to an electronic control unit,
- wherein the ground speed detection device selects the front wheel speed sensor or the rear wheel speed sensor for calculating the ground speed on the basis of a predetermined selection condition,
- wherein at a time of corner exit the ground speed is calculated by using only one wheel speed sensor, the corner exit being a transition from a cornered state of the vehicle toward an upright state.
Dependencies are inferred from the claim text.