APPARATUS FOR ESTIMATING ROAD SURFACE GRADIENT AND VEHICULAR CONTROL APPARATUS USING THE SAME
First Claim
1. An apparatus for estimating a gradient of a road surface on which a vehicle travels, comprising:
- acquisition means for acquiring at least one of acceleration of the vehicle calculated on changes in a travel speed of the vehicle and acceleration sensed from a force applied to the vehicle;
estimation means for estimating the gradient of the road surface based on the acceleration acquired by the acquisition means; and
compensation means for compensating the acceleration acquired by the acquisition means in terms of influence of noise superposed on the acceleration, depending on an operational condition of the vehicle, the compensated acceleration being provided to the estimation means.
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Abstract
An apparatus is provided to estimate a gradient of a road surface on which a vehicle travels. The apparatus comprises acquisition, estimation, and compensation members. The acquisition member acquires at least one of acceleration of the vehicle calculated on changes in a travel speed of the vehicle and acceleration sensed from a force applied to the vehicle. The estimation means estimates the gradient of the road surface based on the acquired acceleration. The compensation member compensates the acquired acceleration in terms of influence of noise superposed on the acceleration, depending on an operational condition of the vehicle. The compensated acceleration is used by the estimation. The compensation is carried out by cutting off the noise by a filter, for example.
37 Citations
13 Claims
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1. An apparatus for estimating a gradient of a road surface on which a vehicle travels, comprising:
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acquisition means for acquiring at least one of acceleration of the vehicle calculated on changes in a travel speed of the vehicle and acceleration sensed from a force applied to the vehicle; estimation means for estimating the gradient of the road surface based on the acceleration acquired by the acquisition means; and compensation means for compensating the acceleration acquired by the acquisition means in terms of influence of noise superposed on the acceleration, depending on an operational condition of the vehicle, the compensated acceleration being provided to the estimation means. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus for estimating a gradient of a road surface on which a vehicle travels, the vehicle being provided with a motive power generation apparatus generating torque for the travel, comprising:
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sensing means for sensing acceleration based on a force applied to the vehicle; pitch angle estimation means for estimating a pitch angle of the vehicle based on the torque generated by the motive power generation apparatus; gradient estimation means for estimating the gradient of the road surface based on the acceleration sensed by the sensing means and the pitch angle estimated by the pitch angle estimation means; and correction means for correcting the gradient of the road surface estimated by the gradient estimation means.
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9. An apparatus for controlling acceleration of a vehicle which travels on a road surface, comprising:
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acquisition means for acquiring at least one of acceleration of a vehicle calculated on changes in a travel speed of the vehicle and acceleration sensed from a force applied to the vehicle; estimation means for estimating a gradient of the road surface based on the acceleration acquired by the acquisition means; compensation means for compensating the acceleration acquired by the acquisition means in terms of influence of noise superposed on the acceleration, depending on an operational condition of the vehicle, the compensated acceleration being provided to the estimation means; and feedforward control means for feedforward controlling the acceleration of the vehicle based on a target acceleration and the gradient of the road surface estimated by the estimation means. - View Dependent Claims (10, 11, 12, 13)
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Specification