Vehicle motion state estimation apparatus
An object of the present invention is to provide a vehicle motion state estimation device capable of estimating a vertical momentum of a vehicle with high accuracy from a wheel speed sensor signal during traveling such as acceleration or deceleration, turning, or the like where wheel slips in longitudinal and lateral directions occur. The present invention estimates and removes a variation component caused by a wheel slip from variation components of a wheel speed sensor signal to extract a variation component caused by a displacement of a suspension, and estimates a vertical momentum of a vehicle from the extracted variation component caused by the displacement of the suspension.
1. A vehicle motion state estimation device comprising:
a plurality of sensors including a wheel speed sensor, an acceleration sensor, a gyro sensor, and a steering angle sensor, the vehicle motion state estimation device configured to
estimate a wheel slip-induced wheel speed variation caused by wheel slips in longitudinal and lateral directions,
estimate a suspension displacement-induced wheel speed variation caused by a displacement of a suspension based on a wheel speed sensor signal and the wheel slip-induced wheel speed variation, and
estimate a vertical momentum of a vehicle based on the suspension displacement-induced wheel speed variation, and
a suspension control device configured to receive information from the plurality of sensors and to use a damping force map to perform suspension control of the vehicle.
2. The vehicle motion state estimation device according to claim 1 , wherein
the wheel slip-induced wheel speed variation is estimated when the wheel slip is larger than a predetermined value.
3. The vehicle motion state estimation device according to claim 1 , wherein
the wheel slip is estimated from position information of the vehicle by a GPS.
4. The vehicle motion state estimation device according to claim 1 , wherein the vertical momentum, estimated by the vehicle motion state estimation device, is input to the suspension control device, the suspension control device controlling the estimated vertical momentum via a damping force of the suspension.
5. The vehicle motion state estimation device according to claim 1 , wherein
the wheel slip-induced wheel speed variation is estimated based on a tire braking or driving torque and a tire longitudinal force.
6. The vehicle motion state estimation device according to claim 5 , wherein
the tire braking or driving torque is detected by at least one of the plurality of sensors or estimated from a detection value detected by at least one of the plurality of sensors.
7. The vehicle motion state estimation device according to claim 5 , wherein
the tire longitudinal force is estimated based on a road surface friction coefficient estimated from a detection value of at least one of the plurality of sensors, the wheel slip, and a tire vertical force.
8. The vehicle motion state estimation device according to claim 5 , wherein
the tire longitudinal force is estimated by an external device connected to an outside of the vehicle motion state estimation device.
9. The vehicle motion state estimation device according to claim 1 , comprising:
a first vertical momentum estimation means for estimating the wheel slip-induced wheel speed variation caused by the wheel slips in the longitudinal and lateral directions, estimating the suspension displacement-induced wheel speed variation caused by the displacement of the suspension based on the wheel speed sensor signal and the wheel slip-induced wheel speed variation, and estimating the vertical momentum of the vehicle based on the suspension displacement-induced wheel speed variation; and
a second vertical momentum estimation means for estimating the vertical momentum using a method different from the first vertical momentum estimation means,
wherein the vertical momentum estimated by the first vertical momentum estimation means is corrected based on a difference between the vertical momentum estimated by the first vertical momentum estimation means and the vertical momentum estimated by the second vertical momentum estimation means.
10. The vehicle motion state estimation device according to claim 9 , wherein
a characteristic map which outputs a predicted value of an estimation error of the second vertical momentum estimation means is provided in advance so as to correct the vertical momentum estimated by the first vertical momentum estimation means when the predicted value of the estimation error output from the characteristic map is smaller than a predetermined value.