US 2012/0067122 A1Published application

Bank angle detecting device for vehicle

AssigneeKawasaki Jukogyo Kabushiki Kaisha

InventorsTakuya Sakamoto, Yoshiteru Harada

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Abstract

A bank angle detecting device includes an angular velocity sensor for detecting a roll rate and a yaw rate of the vehicle, a roll rate estimating circuit for calculating an estimated roll rate, which is an angular velocity about a forward and rearward axis, on the basis of the roll rate, the yaw rate and a travelling speed, a bank angle estimator for calculating an estimated bank angle from the estimated roll rate, a straightforward travel determiner for determining a straightforward travelling condition on the basis of the estimated roll rate and an estimated yaw rate, a time-of-straight-forward-travel drift amount estimator for estimating a time-of-straight-forward drift amount from an output of the angular sensor in the event that the straightforward travel determiner determines a straightforward travel, and an angular velocity corrector for correcting the output of the angular velocity sensor with the time-of-straight-forward drift amount.

Claims10

Dependent claims

A bank angle detecting device for a vehicle, which comprises:

an angular velocity sensor for acquiring a detection value containing respective component of a roll rate, which is an angular velocity about a forward and rearward axis of the vehicle, and a yaw rate, which is an angular velocity about a vertical axis of the vehicle;
a roll rate estimator for calculating an estimated roll rate on the basis of the detection value of the angular velocity and a travelling speed of the vehicle;
a bank angle estimator for calculating an estimated bank angle of the vehicle from the estimated roll rate;
a straight forward travel determiner for determining a straight forward travelling condition of the vehicle during the travel of the vehicle on the basis of the estimated roll rate and a value associated with the estimated bank angle;
a time-of-straight-forward-travel drift amount estimator for estimating a sensor drift amount during the straight forward travel of the vehicle from an output of the angular velocity sensor in the event that the straight forward travel determiner determines the straight forward travelling condition;
and
an angular velocity corrector for correcting the output of the angular velocity sensor with the sensor drift amount estimated by the time-of-straight-forward-travel drift amount estimator.

4 more elements

Dependencies are inferred from the claim text.