Device for estimating drift amount of lateral acceleration sensor, device for correcting output of lateral acceleration sensor, and device for estimating road surface friction state
First Claim
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1. A device for estimating a drift amount of a lateral acceleration sensor, the device comprising:
- a steering torque sensor detecting a steering torque;
a lateral acceleration sensor detecting a lateral acceleration;
a drift amount estimating section estimating a drift amount of the lateral acceleration sensor on the basis of the steering torque, which is detected by the steering torque sensor, and the lateral acceleration, which is detected by the lateral acceleration sensor,a self-aligning torque computing section computing one of an estimated value and a detected value of self-aligning torque by using the steering torque detected by the steering torque sensor,a self-aligning torque model value computing section which computes a self-aligning torque model value on the basis of the lateral acceleration detected by the lateral acceleration sensor,wherein the drift amount estimating section estimates the drift amount of the lateral acceleration sensor on the basis of the self-aligning torque and the self-aligning torque model value which is computed by the self-aligning torque model value computing section.
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Abstract
An SAT estimating section estimates self-aligning torque (SAT) on the basis of a steering torque, which is detected by a steering torque detecting section, and an assist torque, which is detected by an assist torque detecting section. An SAT model value computing section computes an SAT model value by using an integrated slip angle αI. An SAT ratio/drift amount computing section computes, by on-line identification, a ratio (SAT ratio) of the SAT to the SAT model value, and a drift amount of a lateral acceleration sensor.
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Citations
13 Claims
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1. A device for estimating a drift amount of a lateral acceleration sensor, the device comprising:
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a steering torque sensor detecting a steering torque; a lateral acceleration sensor detecting a lateral acceleration; a drift amount estimating section estimating a drift amount of the lateral acceleration sensor on the basis of the steering torque, which is detected by the steering torque sensor, and the lateral acceleration, which is detected by the lateral acceleration sensor, a self-aligning torque computing section computing one of an estimated value and a detected value of self-aligning torque by using the steering torque detected by the steering torque sensor, a self-aligning torque model value computing section which computes a self-aligning torque model value on the basis of the lateral acceleration detected by the lateral acceleration sensor, wherein the drift amount estimating section estimates the drift amount of the lateral acceleration sensor on the basis of the self-aligning torque and the self-aligning torque model value which is computed by the self-aligning torque model value computing section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for estimating a drift amount of a lateral acceleration sensor, the device comprising:
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a self-aligning torque computing section computing a self-aligning torque which corresponds to steering torque; a self-aligning torque model value computing section computing a self-aligning torque model value by using a lateral acceleration; and a drift amount estimating section which, on the basis of the self-aligning torque and the self-aligning torque model value, estimates a drift amount of a lateral acceleration sensor which detected the lateral acceleration. - View Dependent Claims (11, 12)
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13. A device for estimating a road surface friction state, comprising:
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a device for estimating a drift amount of a lateral acceleration sensor, which device has;
a self-aligning torque computing section computing a self-aligning torque which corresponds to steering torque;
a self-aligning torque model value computing section computing a self-aligning torque model value by using a lateral acceleration; and
a drift amount estimating section which, on the basis of the self-aligning torque and the self-aligning torque model value, estimates a drift amount of a lateral acceleration sensor which detected the lateral acceleration;a lateral acceleration correcting section correcting the lateral acceleration detected by the lateral acceleration sensor, in accordance with the drift amount estimated by the device for estimating a drift amount of a lateral acceleration sensor; and a road surface friction state estimating section estimating a road surface friction state on the basis of the self-aligning torque and the self-aligning torque model value, wherein the self-aligning torque model value computing section computes the self-aligning torque model value by using the lateral acceleration corrected by the lateral acceleration correcting section.
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Specification