Vehicle state estimation device, control device, suspension control device, and suspension device
It is an object of the present invention to suitably estimate a state of a vehicle. A vehicle state estimation section ( 1200 ) includes: a main computation section ( 1210 ) configured to carry out linear computation with respect to a state amount related to a state of a vehicle; and a tire model computation section ( 1240 ) configured to carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation carried out by the main computation section ( 1210 ).
1. An in-vehicle vehicle state estimation device configured to estimate a state of a vehicle, the in-vehicle vehicle state estimation device comprising:
an electronic control unit (ECU) configured to:
carry out computation with use of a vehicle model, calculate one or more output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle, wherein the state amount related to the state of the vehicle including a sprung speed of the vehicle, a sprung angular speed of the vehicle, and an unsprung speed of a wheel,
carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation, and
control a damping force of a suspension of the vehicle based on the linear and nonlinear computation.
2. The in-vehicle vehicle state estimation device as set forth in claim 1 , wherein the ECU is configured to carry out the nonlinear computation on a basis of a tire model.
3. The in-vehicle vehicle state estimation device as set forth in claim 2 , wherein the ECU is configured to carry out, with reference to a result of the nonlinear computation carried out by the ECU, the linear computation with respect to the state amount related to the state of the vehicle.
4. The in-vehicle vehicle state estimation device as set forth in claim 1 , wherein the ECU is configured to carry out, with reference to a result of the nonlinear computation, the linear computation with respect to the state amount related to the state of the vehicle.
5. An in-vehicle vehicle state estimation device configured to estimate a state of a vehicle, the in-vehicle vehicle state estimation device comprising:
an electronic control unit (ECU) configured to:
carry out computation with use of a vehicle model,
calculate one or more output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle;
carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation, the plurality of input values including a road surface displacement and an operation input, the one or more output values including a sprung vertical speed, a roll rate, and a pitch rate, and
control a damping force of a suspension of the vehicle based on the linear and nonlinear computation.
6. The in-vehicle vehicle state estimation device as set forth in claim 5 , wherein the ECU is configured to carry out the nonlinear computation on the basis of a tire model.
7. The in-vehicle vehicle state estimation device as set forth in claim 6 , wherein the ECU is configured to carry out, with reference to a result of the nonlinear computation carried out by the ECU, the linear computation with respect to the state amount related to the state of the vehicle.
8. The in-vehicle vehicle state estimation device as set forth in claim 5 , wherein the ECU is configured to carry out, with reference to a result of the nonlinear computation carried out by the ECU, the linear computation with respect to the state amount related to the state of the vehicle.
9. A control device, comprising:
an electronic control unit (ECU) configured to:
estimate a state of a vehicle;
carry out computation related to a reference vehicle model;
carry out subtraction, from an estimation output that is an output value outputted from the ECU, of a reference output that is an output value outputted from the ECU;
carry out integration of a result of the subtraction;
carry out a first amplification of an estimation state amount that is a subject of computation;
carry out a second amplification of a result of the integration;
carry out a third amplification of a state amount that is a subject of the computation; and
carry out addition of a result of the first, second and third amplification
compute with use of a vehicle model, to calculate a plurality of output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle; and to carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation, the state amount related to the state of the vehicle including a sprung speed of the vehicle, a sprung angular speed of the vehicle, and an unsprung speed of a wheel; and
control a damping force of a suspension of the vehicle based on the linear and nonlinear computation.
10. A control device, comprising:
an electronic control unit (ECU) configured to:
estimate a state of a vehicle;
to carry out computation related to a reference vehicle model;
subtraction, from an estimation output that is an output value outputted from the ECU, of a reference output that is an output value outputted from the of the ECU;
carry out integration of a result of the subtraction;
carry out a first amplification of an estimation state amount that is a subject of computation carried out by the ECU;
carry out a second amplification of a result of the integration;
carry out a third amplification of a state amount that is a subject of the computation carried out by the ECU;
carry out addition of a result of the first, second and third amplification compute with use of a vehicle model, to calculate a plurality of output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle; and to carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation, the plurality of input values including a road surface displacement and an operation input, the plurality of output values including a sprung vertical speed, a roll rate, and a pitch rate; and
control a damping force of a suspension of the vehicle based on the linear and nonlinear computation.
11. A suspension control device configured to control a damping force of a suspension, the suspension control device comprising:
an electronic control unit (ECU) configured to:
estimate a state of a vehicle,
calculate a plurality of output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle;
carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation carried out by the ECU, the state amount related to the state of the vehicle including a sprung speed of the vehicle, a sprung angular speed of the vehicle, and an unsprung speed of a wheel; and
control the damping force of the suspension of the vehicle based on the linear and nonlinear computation.
12. A suspension control device configured to control a damping force of a suspension, the suspension control device comprising:
an electronic control unit (ECU) configured to:
estimate a state of a vehicle,
calculate a plurality of values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle;
carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation carried out by the ECU, the plurality of values including a road surface displacement and an operation input, the plurality of output values including a sprung vertical speed, a roll rate, and a pitch rate; and
control the damping force of the suspension of the vehicle based on the linear and nonlinear computation.
13. A suspension device, comprising:
a suspension; and
an electronic control unit (ECU) configured to:
estimate a state of a vehicle,
calculate a plurality of output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle, the state amount related to the state of the vehicle including a sprung speed of the vehicle, a sprung angular speed of the vehicle, and an unsprung speed of a wheel
carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation; and
control a damping force of the suspension of the vehicle based on the linear and nonlinear computation.
14. A suspension device, comprising:
a suspension; and
an electronic control unit (ECU) configured to:
estimate a state of a vehicle,
calculate a plurality of output values by carrying out, with reference to a plurality of input values, linear computation with respect to a state amount related to the state of the vehicle;
carry out nonlinear computation with direct or indirect reference to at least part of a result of the linear computation carried out by the ECU,
the plurality of input values including a road surface displacement and an operation input,
the plurality of output values including a sprung vertical speed, a roll rate, and a pitch rate; and
control a damping force of the suspension of the vehicle based on the linear and nonlinear computation.