Road-surface condition estimating device
View Patent ↗A driving-torque difference value, an inertial-force difference value of the vehicle, and an inertial-force change-amount difference value of the vehicle are calculated. Subsequently, a first determination coefficient by which the inertial-force difference value is to be multiplied or a second determination coefficient by which the driving-torque difference value is to be multiplied is estimated on the basis of a state equation having the inertial-force difference value as a state variable and the driving-torque difference value as an input variable. Subsequently, a road-surface condition is determined on the basis of a comparison between a threshold value and the first determination coefficient or the second determination coefficient.
1. A road-surface condition estimating device, comprising:
driving-torque detecting means that detects a driving torque of an engine;
longitudinal-acceleration detecting means that detects a longitudinal acceleration of the vehicle;
driving-torque difference-value calculating means that calculates a difference between a currently detected driving torque of the engine and a previously detected driving torque of the engine as a driving-torque difference value;
inertial-force difference-value calculating means that calculates a difference between a current inertial force of the vehicle and a previous inertial force of the vehicle as an inertial-force difference value on the basis of the longitudinal acceleration;
inertial-force change-amount difference-value calculating means that calculates a difference between a current amount of change in inertial force of the vehicle and a previous amount of change in inertial force of the vehicle as an inertial-force change-amount difference value on the basis of the longitudinal acceleration;
determination-coefficient calculating means that calculates at least one of a first determination coefficient and a second determination coefficient on the basis of a state equation related to the inertial-force change-amount difference value, the state equation being formed by adding a first arithmetic term to a second arithmetic term, the first arithmetic term being obtained by multiplying the inertial-force difference value by the first determination coefficient, the second arithmetic term being obtained by multiplying the driving-torque difference value by the second determination coefficient; and
road-surface-condition determining means that determines a road-surface condition on the basis of the at least one of the first determination coefficient and the second determination coefficient.
2. The road-surface condition estimating device according to claims 1 , wherein the road-surface-condition determining means determines the road-surface condition on the basis of the at least one of the determination coefficients by comparing the at least one of the determination coefficients with a determination threshold value that is preliminarily adjustably set in accordance with a vehicle speed.
3. A road-surface condition estimating device, comprising:
driving-torque detecting means that detects a driving torque of an engine;
longitudinal-acceleration detecting means that detects a longitudinal acceleration of the vehicle;
driving-torque difference-value calculating means that calculates a difference between a currently detected driving torque of the engine and a previously detected driving torque of the engine as a driving-torque difference value;
inertial-force difference-value calculating means that calculates a difference between a current inertial force of the vehicle and a previous inertial force of the vehicle as an inertial-force difference value on the basis of the longitudinal acceleration;
determination-coefficient calculating means that calculates at least one of a third determination coefficient and a fourth determination coefficient on the basis of a pulse transfer function related to the inertial-force difference value, the pulse transfer function being formed by adding a first arithmetic term to a second arithmetic term, the first arithmetic term being obtained by multiplying the inertial-force difference value by the third determination coefficient, the second arithmetic term being obtained by multiplying the driving-torque difference value by the fourth determination coefficient; and
road-surface-condition determining means that determines a road-surface condition on the basis of the at least one of the third determination coefficient and the fourth determination coefficient.
4. The road-surface condition estimating device according to claims 3 , wherein the road-surface-condition determining means determines the road-surface condition on the basis of the at least one of the determination coefficients by comparing the at least one of the determination coefficients with a determination threshold value that is preliminarily adjustably set in accordance with a vehicle speed.