CENTROID ESTIMATION DEVICE AND CENTROID ESTIMATION METHOD
First Claim
1. A centroid estimation device that estimates the centroid of a moving body having a plurality of driving wheels, comprising:
- a torque control part configured to determine torque control values for said plurality of driving wheels, and to control torque amounts for said plurality of driving wheels on the basis of said torque control values that have been determined;
a driving force estimation part configured to estimate the driving forces for the driving wheels on the basis of said torque control values;
a first acquisition part acquiring a mutual relationship information between the driving forces for at least two of said plurality of driving wheels, when the rotational speeds of said at least two of said plurality of driving wheels become mutually equal; and
a centroid estimation part configured to estimate the centroid of said moving body on the basis of the positional relationship of said plurality of driving wheels, and the mutual relationship information acquired by said first acquisition part, whereinsaid torque control part determines the torque control values so that the rotational speeds of said at least two of said plurality of driving wheels become equal, while keeping the total of the torque amounts for all of said plurality of driving wheels the same, during estimation of the centroid of said moving body,said first acquisition part acquires said mutual relationship information on the basis of the driving forces estimated by said driving force estimation part.
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Accused Products
Abstract
While keeping the sum of torques for all four driving wheels constant, a torque control part sequentially determines torque control values so the rotational speed of first, second, and third selected driving wheel pair become the same. Then, a driving force estimation part estimates driving forces of the driving wheels on the basis of the determined torque control values. Subsequently, a centroid estimation part calculates ratios of the driving forces from information about the correlation among the driving forces of the first through third selected driving wheel pairs. Then, the centroid estimation part estimates the centroid position of a moving body on the basis of the ratios of the relevant driving forces. Consequently, the centroid of the moving body can be estimated with a simple configuration without the provision of any special sensors.
27 Citations
11 Claims
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1. A centroid estimation device that estimates the centroid of a moving body having a plurality of driving wheels, comprising:
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a torque control part configured to determine torque control values for said plurality of driving wheels, and to control torque amounts for said plurality of driving wheels on the basis of said torque control values that have been determined; a driving force estimation part configured to estimate the driving forces for the driving wheels on the basis of said torque control values; a first acquisition part acquiring a mutual relationship information between the driving forces for at least two of said plurality of driving wheels, when the rotational speeds of said at least two of said plurality of driving wheels become mutually equal; and a centroid estimation part configured to estimate the centroid of said moving body on the basis of the positional relationship of said plurality of driving wheels, and the mutual relationship information acquired by said first acquisition part, wherein said torque control part determines the torque control values so that the rotational speeds of said at least two of said plurality of driving wheels become equal, while keeping the total of the torque amounts for all of said plurality of driving wheels the same, during estimation of the centroid of said moving body, said first acquisition part acquires said mutual relationship information on the basis of the driving forces estimated by said driving force estimation part. - View Dependent Claims (2, 4, 5, 6, 7, 8)
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3. (canceled)
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9. A centroid estimation method that estimates the centroid of a moving body having a plurality of driving wheels, comprising the steps of:
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a torque control step of determining torque control values for said plurality of driving wheels, and controlling torque amounts for said plurality of driving wheels on the basis of said torque control values that have been determined; a driving force estimation step of estimating the driving forces for the driving wheels on the basis of said torque control values; an acquisition process of acquiring a mutual relationship information between the driving forces for at least two of said plurality of driving wheels, when the rotational speeds of said at least two of said plurality of driving wheels become mutually equal; and a centroid estimation process of estimating the centroid of said moving body on the basis of the positional relationship of said plurality of driving wheels, and the mutual relationship information acquired by said acquisition process, wherein the torque control values are determined so that the rotational speeds of said at least two of said plurality of driving wheels become equal, while keeping the total of the torque amounts for all of said plurality of driving wheels the same, during estimation of the centroid of said moving body, in said torque control step, said mutual relationship information is acquired on the basis of the driving forces estimated by said driving force estimation step, in said first acquisition step. - View Dependent Claims (11)
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10. (canceled)
Specification