Vehicle body speed estimating device

A vehicle body speed estimating device comprising:

• an attitude angle estimating means that estimates a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• a longitudinal speed computing means that computes longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• a vehicle body speed estimating means that estimates lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed, the lateral vehicle body speed and a value obtained by subjecting a detected value of lateral acceleration to low-pass filtering processing, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration, yaw angular velocity and a vehicle steering angle of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a corrected value of a computed value of the longitudinal vehicle body speed that is corrected in accordance with an estimated value of a pitch angle with respect to a road surface that is estimated from the detected value of the longitudinal acceleration, and a computed value of vertical vehicle body speed obtained by correcting the detected value of the longitudinal acceleration in accordance with the estimated value of the pitch angle, and a product of a corrected value of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity, and a value obtained by subjecting the detected value of the lateral acceleration to low-pass filter processing, and a detected value or an estimated value of roll angular velocity, and a detected value or an estimated value of pitch angular velocity.

A vehicle body speed estimating device comprising:

• an attitude angle estimating means that estimates a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• a longitudinal speed computing means that computes longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• a vehicle body speed estimating means that estimates the longitudinal vehicle body speed and lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and by using, as a feedback amount, a product of a deviation between a computed value of the longitudinal vehicle body speed and an estimated value of the longitudinal vehicle body speed, and a value obtained from an absolute value of a detected value of a yaw angular velocity, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of the deviation and a value obtained from the absolute value of the detected value of the yaw angular velocity.

A vehicle body speed estimating device comprising:

• an attitude angle estimating means that estimates a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• a longitudinal speed computing means that computes longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• a vehicle body speed estimating means that estimates the longitudinal vehicle body speed and lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed, the lateral vehicle body speed, and a value obtained by subjecting a detected value of lateral acceleration to low-pass filter processing, and by using, as feedback amounts, a product of a first deviation, that is a deviation between a corrected value of a computed value of the longitudinal vehicle body speed that is corrected in accordance with an estimated value of the pitch angle with respect to a road surface that is estimated from a detected value of longitudinal acceleration, and an estimated value of a corrected value of the longitudinal vehicle body speed, and a value obtained from an absolute value of a detected value of a yaw angular velocity, and a second deviation that is a deviation between a value obtained by subjecting the detected value of the lateral acceleration to low-pass filter processing and an estimated value of the value obtained by low-pass filter processing, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration, yaw angular velocity and a vehicle steering angle of vehicle motion, and a computed value of vertical vehicle body speed that is obtained by correcting the detected value of the longitudinal acceleration in accordance with the product, the second deviation and an estimated value of the pitch angle, and respective estimated values of the roll angle and the pitch angle, and a detected value or an estimated value of roll angular velocity, and a detected value or an estimated value of pitch angular velocity.

A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform a function for estimating vehicle body speed, the function comprising the steps of:

• estimating a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• computing longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• estimating lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity.

A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform a function for estimating vehicle body speed, the function comprising the steps of:

• estimating a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• computing longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• estimating lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed, the lateral vehicle body speed and a value obtained by subjecting a detected value of lateral acceleration to low-pass filtering processing, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration, yaw angular velocity and a vehicle steering angle of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a corrected value of a computed value of the longitudinal vehicle body speed that is corrected in accordance with an estimated value of a pitch angle with respect to a road surface that is estimated from the detected value of the longitudinal acceleration, and a computed value of vertical vehicle body speed obtained by correcting the detected value of the longitudinal acceleration in accordance with the estimated value of the pitch angle, and a product of a corrected value of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity, and a value obtained by subjecting the detected value of the lateral acceleration to low-pass filter processing, and a detected value or an estimated value of roll angular velocity, and a detected value or an estimated value of pitch angular velocity.

A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform a function for estimating vehicle body speed, the function comprising the steps of:

• estimating a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• computing longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• estimating the longitudinal vehicle body speed and lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and by using, as a feedback amount, a product of a deviation between a computed value of the longitudinal vehicle body speed and an estimated value of the longitudinal vehicle body speed, and a value obtained from an absolute value of a detected value of a yaw angular velocity, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of the deviation and a value obtained from the absolute value of the detected value of the yaw angular velocity.

A storage medium readable by a computer, the storage medium storing a program of instructions executable by the computer to perform a function for estimating vehicle body speed, the function comprising the steps of:

• estimating a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body;
• computing longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels;
• and
• estimating the longitudinal vehicle body speed and lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed, the lateral vehicle body speed, and a value obtained by subjecting a detected value of lateral acceleration to low-pass filter processing, and by using, as feedback amounts, a product of a first deviation, that is a deviation between a corrected value of a computed value of the longitudinal vehicle body speed that is corrected in accordance with an estimated value of the pitch angle with respect to a road surface that is estimated from a detected value of longitudinal acceleration, and an estimated value of a corrected value of the longitudinal vehicle body speed, and a value obtained from an absolute value of a detected value of a yaw angular velocity, and a second deviation that is a deviation between a value obtained by subjecting the detected value of the lateral acceleration to low-pass filter processing and an estimated value of the value obtained by low-pass filter processing, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration, yaw angular velocity and a vehicle steering angle of vehicle motion, and a computed value of vertical vehicle body speed that is obtained by correcting the detected value of the longitudinal acceleration in accordance with the product, the second deviation and an estimated value of the pitch angle, and respective estimated values of the roll angle and the pitch angle, and a detected value or an estimated value of roll angular velocity, and a detected value or an estimated value of pitch angular velocity.