Physical amount estimating apparatus, road surface friction condition estimating apparatus, steering angle neutral point estimating apparatus and air pressure reduction estimating apparatus
First Claim
1. A physical amount estimating apparatus comprising:
- first outputting means for outputting a first physical amount that does not include a hysteresis characteristic;
second outputting means for outputting a second physical amount that has a predetermined physical relationship to the first physical amount and includes a hysteresis characteristic;
hysteresis removing means for calculating a corrected value with the hysteresis characteristic removed therefrom, based on the second physical amount; and
estimating means for estimating a third physical amount based on a physical relationship between the first physical amount and the corrected value.
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Abstract
A physical amount estimating apparatus including first outputting means for outputting a first physical amount that does not include a hysteresis characteristic, second outputting means for outputting a second physical amount that has a predetermined physical relationship to the first physical amount and includes a hysteresis characteristic, hysteresis removing means for calculating a corrected value with the hysteresis characteristic removed therefrom based on the second physical amount, and estimating means for estimating a third physical amount based on a physical relationship between the first physical amount and the corrected value.
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Citations
24 Claims
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1. A physical amount estimating apparatus comprising:
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first outputting means for outputting a first physical amount that does not include a hysteresis characteristic;
second outputting means for outputting a second physical amount that has a predetermined physical relationship to the first physical amount and includes a hysteresis characteristic;
hysteresis removing means for calculating a corrected value with the hysteresis characteristic removed therefrom, based on the second physical amount; and
estimating means for estimating a third physical amount based on a physical relationship between the first physical amount and the corrected value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A road surface friction condition estimating apparatus comprising:
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a steering angle sensor for detecting a steering angle;
a vehicle speed sensor for detecting a vehicle speed;
a torque sensor for detecting a steering torque;
an assist torque sensor for detecting an assist torque of steering;
slip angle estimating means for estimating a slip angle of a steered wheel, based on the steering angle and the vehicle speed;
self aligning torque estimating means for estimating a self aligning torque based on the steering torque and the assist torque;
hysteresis removing means for calculating a corrected value with a hysteresis characteristic removed therefrom, based on an estimated value of the self aligning torque; and
friction state estimating means for estimating a road surface friction condition from the corrected value and the slip angle. - View Dependent Claims (14, 15, 16, 17)
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18. A steering angle neutral point estimating apparatus comprising:
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a steering angle sensor for detecting a steering angle;
a torque sensor for detecting a steering torque;
an assist torque sensor for detecting an assist torque of steering;
self aligning torque estimating means for estimating a self aligning torque based on the steering torque and the assist torque;
hysteresis removing means for calculating a corrected value with a hysteresis characteristic removed therefrom, making a value when an estimated value of the self aligning torque becomes 0 an initial value, based on the estimated value of the self aligning torque; and
neutral point estimating means for estimating the steering angle when the corrected value becomes 0 as a neutral point of the steering angle, based on the corrected value and the steering angle.
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19. An air pressure reduction estimating apparatus comprising:
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a steering angle sensor for detecting a steering angle;
a vehicle speed sensor for detecting a vehicle speed;
a torque sensor for detecting a steering torque;
an assist torque sensor for detecting an assist torque of steering;
slip angle estimating means for estimating a slip angle of a steered wheel based on the steering angle and the vehicle speed;
self aligning torque estimating means for estimating a self aligning torque based on the steering torque and the assist torque;
hysteresis removing means for calculating a corrected value of the self aligning torque with a hysteresis characteristic removed therefrom, based on an estimated value of the self aligning torque; and
air pressure reduction estimating means for estimating whether an air pressure of a tire is reduced, based on the corrected value of the self aligning torque and the slip angle. - View Dependent Claims (20, 21)
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22. An air pressure reduction estimating apparatus comprising:
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a lateral acceleration sensor for detecting a lateral acceleration;
a yaw angular velocity sensor for detecting a yaw angular velocity;
a torque sensor for detecting a steering torque;
an assist torque sensor for detecting an assist torque of steering;
side force estimating means for estimating a side force of a steered wheel based on the lateral acceleration and the yaw angular velocity;
self aligning torque estimating means for estimating a self aligning torque based on the steering torque and the assist torque;
hysteresis removing means for calculating a corrected value of the self aligning torque with a hysteresis characteristic removed therefrom, based on an estimated value of the self aligning torque; and
air pressure reduction estimating means for estimating whether an air pressure of a tire is reduced, based on the corrected value of the self aligning torque and the side force. - View Dependent Claims (23, 24)
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Specification