US 7,599,779 B2 · Acceleration estimation device and vehicle

Abstract

In an acceleration estimation device for estimating acceleration of a vehicle, a Karman filter for constant speed estimates x-direction acceleration offset and z-direction acceleration offset when a motorcycle is stopped and is traveling at a constant speed. An offset corrector corrects an x-direction acceleration and a z-direction acceleration on the basis of an x-direction acceleration offset estimated value and a z-direction acceleration offset estimated value when the motorcycle is accelerated and decelerated. A Karman filter for acceleration/deceleration estimates the pitch angle of a vehicle body on the basis of a wheel speed and the corrected x-direction acceleration and z-direction acceleration when the motorcycle is accelerated and decelerated. An acceleration corrector obtains an X-direction acceleration and a Z-direction acceleration on the basis of the estimated pitch angle and the corrected x-direction acceleration and z-direction acceleration. A vehicle speed operation unit integrates over time the X-direction acceleration to calculate an X-direction speed.

Claims7

Dependent claims

An acceleration estimation device for estimating acceleration of a vehicle, comprising:

a first acceleration sensor arranged to detect an acceleration in a forward-and-backward direction of the vehicle;
a second acceleration sensor arranged to detect an acceleration in an up-and-down direction of the vehicle;
a pitch angle estimator arranged to estimate a pitch angle of the vehicle on the basis of a relationship between a detected value in the first acceleration sensor and a detected value in the second acceleration sensor;
and
an acceleration calculator arranged to calculate an acceleration in a traveling direction of the vehicle that is substantially perpendicular to a direction of gravity on the basis of an estimated value of the pitch angle obtained by the pitch angle estimator, the detected value in the first acceleration sensor, and the detected value in the second acceleration sensor.

2 more elements

Dependencies are inferred from the claim text.

Acceleration estimation device and vehicle

Life of this patent

Acceleration estimation device and vehicle

Life of this patent

Abstract

Claims7