ACCELERATION ESTIMATION DEVICE AND VEHICLE
First Claim
1. 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 wheel speed detector arranged to detect a wheel speed of the vehicle;
an offset estimator arranged to estimate offset in the first acceleration sensor and offset in the second acceleration sensor using a relationship among a detected value in the first acceleration sensor, a detected value in the second acceleration sensor, and a detected value in the wheel speed detector when the vehicle is at a substantially constant speed; and
a corrector arranged to correct the detected value in the first acceleration sensor and the detected value in the second acceleration sensor on the basis of an estimated value of the offset in the first acceleration sensor and an estimated value of the offset in the second acceleration sensor that are obtained by the offset estimator when the vehicle is accelerated or decelerated.
1 Assignment
0 Petitions
Accused Products
Abstract
In an acceleration estimation device for estimating acceleration of a vehicle, a Karman filter for a constant speed estimates x-direction acceleration offset and z-direction acceleration offset when a motorcycle is stopped and is traveling at constant speed. An offset storage stores an x-direction acceleration offset estimated value and a z-direction acceleration offset estimated value. An offset corrector corrects an x-direction acceleration and a z-direction acceleration on the basis of the x-direction acceleration offset estimated value and the 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 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. A vehicle speed operation unit integrates over time the X-direction acceleration to calculate an X-direction speed.
14 Citations
7 Claims
-
1. 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 wheel speed detector arranged to detect a wheel speed of the vehicle; an offset estimator arranged to estimate offset in the first acceleration sensor and offset in the second acceleration sensor using a relationship among a detected value in the first acceleration sensor, a detected value in the second acceleration sensor, and a detected value in the wheel speed detector when the vehicle is at a substantially constant speed; and a corrector arranged to correct the detected value in the first acceleration sensor and the detected value in the second acceleration sensor on the basis of an estimated value of the offset in the first acceleration sensor and an estimated value of the offset in the second acceleration sensor that are obtained by the offset estimator when the vehicle is accelerated or decelerated. - View Dependent Claims (2, 3, 4, 5, 6)
-
-
7. A vehicle comprising:
-
a vehicle body; a wheel provided on the vehicle body; an acceleration estimation device arranged on the vehicle body; and a controller;
whereinthe acceleration estimation device includes; a first acceleration sensor on the vehicle and arranged to detect an acceleration in a forward-and-backward direction of the vehicle, a second acceleration sensor on the vehicle and arranged to detect an acceleration in an up-and-down direction of the vehicle; a wheel speed detector arranged to detect a wheel speed of the vehicle; an offset estimator arranged to estimate offset in the first acceleration sensor and offset in the second acceleration sensor using a relationship among a detected value in the first acceleration sensor, a detected value in the second acceleration sensor, and a detected value in the wheel speed detector when the vehicle is at a substantially constant speed; and a corrector arranged to correct the detected value in the first acceleration sensor and the detected value in the second acceleration sensor on the basis of an estimated value of the offset in the first acceleration sensor and an estimated value of the offset in the second acceleration sensor that are obtained by the offset estimator when the vehicle is accelerated or decelerated; and the controller controls the rotation of the wheel on the basis of at least one of the detected value in the first acceleration sensor and the detected value in the second acceleration sensor that are corrected by the acceleration estimation device.
-
Specification