VEHICLE STATE AMOUNT ESTIMATING DEVICE

• US 20130338869A1
• Filed: 02/10/2012
• Published: 12/19/2013
• Est. Priority Date: 02/17/2011
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Tsumano, Mitsuhiro
• Granted Patent: US 9,075,703 B2
• Time in Patent Office: Days
• US Class Current: 701/29.1
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 2720/20 Sideslip angle
• CPC Class Codes: B60W 30/025 related to comfort of drivers or passengers
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C

Abstract

To provide a vehicle state amount estimating device capable of suppressing sudden change in behavior at the time of behavior control of the vehicle, in a vehicle state amount estimating device that estimates a target lateral acceleration used in a behavior control of a vehicle based on a lateral acceleration actual measurement value and a lateral acceleration estimated value at time of traveling of the vehicle; when estimating the target lateral acceleration based on the lateral acceleration actual measurement value and the lateral acceleration estimated value, the target lateral acceleration is estimated by performing weighting on the lateral acceleration actual measurement value and the lateral acceleration estimated value according to a state of side slipping of the vehicle.

Claims

1. A vehicle state amount estimating device that estimates a state amount used in a behavior control of a vehicle based on an actual state amount and an estimated state amount at time of traveling of the vehicle, wherein

when estimating the state amount based on the actual state amount and the estimated state amount, the state amount is estimated by performing weighting on the actual state amount and the estimated state amount according to a state of side slipping of the vehicle, a state in which the weighting of the actual state amount is large is maintained regardless of the state of the side slipping when the side slipping becomes larger than or equal to a predetermined value, the state in which the weighting of the actual state amount is large is released when a state in which a difference between the actual state amount and the estimated state amount is smaller than or equal to a predetermined value is continued for a predetermined time, and when maintaining the state in which the weighting of the actual state amount is large, an increase in the weighting of the actual state amount according to the state of the side slipping is tolerated.

2. The vehicle state amount estimating device according to claim 1, wherein the state in which the weighting of the actual state amount is large is released when a state in which the difference between the actual state amount and the estimated state amount is smaller than or equal to the predetermined value and the side slipping is smaller than or equal to the predetermined value is continued for the predetermined time.

3. The vehicle state amount estimating device according to claim 1, wherein the state in which the weighting of the actual state amount is large is maintained by limiting the weighting of the estimated state amount when the side slipping becomes larger than or equal to the predetermined value.

5. The vehicle state amount estimating device according to claim 2, wherein the state in which the weighting of the actual state amount is large is maintained by limiting the weighting of the estimated state amount when the side slipping becomes larger than or equal to the predetermined value.

4. (canceled)