Grounding load estimation device, control device, and grounding load estimation method

A ground contact load estimation device for estimating a ground contact load of a vehicle,

• said ground contact load estimation device comprising processing circuitry and a memory:
• the processing circuitry including:
• acquisition circuitry configured to acquire, as a physical quantity related to the vehicle, a value of a longitudinal acceleration sensor that acquires longitudinal acceleration of the vehicle, a value of a lateral acceleration sensor that acquires lateral acceleration of the vehicle, a value of a wheel speed sensor that acquires a wheel angular speed of the vehicle, a value of a turning information sensor that acquires turning information of the vehicle, a mass of the vehicle, a gravitational center height of the vehicle, a rolling inertia moment, a pitching inertia moment, a front axle intercentroid distance of the vehicle, a rear axle intercentroid distance of the vehicle, a front tread length of the vehicle, and a rear tread length of the vehicle;
• and
• inertia load estimation circuitry including (i) reference inertia load calculation circuitry configured to calculate a reference inertia load in accordance with a model of the vehicle with use of the value of the longitudinal acceleration sensor, the value of the lateral acceleration sensor, the value of the wheel speed sensor, the mass of the vehicle, the gravitational center height of the vehicle, the rolling inertia moment, the pitching inertia moment, the front axle intercentroid distance of the vehicle, the rear axle intercentroid distance of the vehicle, the front tread length, and the rear tread length, each of which has been acquired by the acquisition circuitry, and (ii) correction value calculation circuitry configured to calculate an inertia load correction value with use of the mass of the vehicle, the gravitational center height of the vehicle, the value of the wheel speed sensor, the value of the turning information sensor, the rolling inertia moment, the front tread length, and the rear tread length, each of which has been acquired by the acquisition circuitry, the inertia load estimation circuitry being configured to estimate an inertia load by adding the inertia load correction value to the reference inertia load, the inertia load meaning a variation in ground contact load due to an effect of turning of the vehicle and an effect of acceleration/deceleration of the vehicle,
• wherein the ground contact load estimation device controls one or more of a suspension, an electronically controlled suspension, a steering device, and an electronically controlled driving force transmission device,
• wherein the ground contact load device is configured for adjusting one or more of a braking force, a driving force, and a transmission driving force, and a suspension damping force.