Vehicle condition estimating device

• US 9,096,232 B2
• Filed: 01/13/2009
• Issued: 08/04/2015
• Est. Priority Date: 01/13/2009
• Status: Expired due to Fees

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yokota, Takahiro
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): GREENE, DANIEL LAWSON
• Application Number:
  US13/131,408
• Publication Number:
  US 20110257876A1
• Time in Patent Office: 2,394 Days
• Field of Search: 701/124
• US Class Current: 1/1
• CPC Class Codes: B60W 2040/1315 Location of the centre of gravity
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 40/12 related to parameters of the vehicle itself , e.g. tyre models
• CPC Class Codes: B60W 40/13 Load or weight
• CPC Class Codes: B62K 11/007 Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
• CPC Class Codes: G01G 19/086 wherein the vehicle mass is dynamically estimated

Abstract

There is provided a vehicle condition estimating device which enables the estimations of the longitudinal position of a vehicle centroid, loads exerted on front and rear wheel axles and cornering powers even during the running of a vehicle without detecting directly the loads exerted on front and rear wheel axles. The inventive device is characterized by estimating a centroid position in the longitudinal direction of a vehicle based on a vehicle weight value, a stability factor value, a relation between a front wheel axle load and a front wheel cornering power and a relation between a rear wheel axle load and a rear wheel cornering power.

Claims

1. A vehicle motion controlling device, wherein the device comprises:

a vehicle weight estimating unit estimating a vehicle weight value and a stability factor value;

a data memory unit storing a relation between a front wheel axle load and a front wheel cornering power and a relation between a rear wheel axle load and a rear wheel cornering power; and

a vehicle longitudinal centroid position estimating unit estimating a centroid position in a longitudinal direction of the vehicle based on the vehicle weight value, the stability factor value, the relation between the front wheel axle load and the front wheel cornering power and the relation between the rear wheel axle load and the rear wheel cornering power,

wherein the vehicle motion controlling device controls the vehicle in accordance with the estimated centroid position.

2. The device of claim 1, wherein the device estimates at least one of a front wheel axle load value, a rear wheel axle load value, a front wheel cornering power value, and a rear wheel cornering power value based on the estimated centroid position in the longitudinal direction of the vehicle.

3. The device of claim 1, wherein the relation between the front wheel axle load and the front wheel cornering power is a relation obtained by approximating the front wheel cornering power as a quadratic function of the front wheel axle load, and the relation between the rear wheel axle load and the rear wheel cornering power is a relation obtained by approximating the rear wheel cornering power as a quadratic function of the rear wheel axle load.

4. The device of claim 1, wherein the relation between the front wheel axle load and the front wheel cornering power is determined from a group of previously obtained values of the front wheel cornering power to the front wheel axle load and the relation between the rear wheel axle load and the rear wheel cornering power is determined from a group of previously obtained values of the rear wheel cornering power to the rear wheel axle load.

5. The device of claim 1, wherein the device estimates the centroid position in the longitudinal direction of the vehicle using a function obtained based upon the relation between the front wheel axle load and the front wheel cornering power and the relation between the rear wheel axle load and the rear wheel cornering power, where the vehicle weight value and the stability factor value are employed as variables of the function.

6. The device of claim 1, wherein the relation between the front wheel axle load and the front wheel cornering power is a function obtained by approximating the front wheel cornering power as a linear function of the front wheel axle load, and the relation between the rear wheel axle load and the rear wheel cornering power is a function obtained by approximating the rear wheel cornering power as a linear function of the rear wheel axle load.

7. The device of claim 6, wherein a provisional centroid position in the longitudinal direction of the vehicle is determined based on the vehicle weight;

a provisional front wheel axle load value and a provisional rear wheel axle load value are determined from the provisional centroid position;

a relation obtained by approximating the front wheel cornering power as a linear function of the front wheel axle load in a predetermined front wheel axle load range in which the provisional front wheel axle load value is almost centered is employed for the relation between the front wheel axle load and the front wheel cornering power; and

a relation obtained by approximating the rear wheel cornering power as a linear function of the rear wheel axle load in a predetermined rear wheel axle load range in which the provisional rear wheel axle load value is almost centered is employed for the relation between the rear wheel axle load and the rear wheel cornering power;

whereby the centroid position in the longitudinal direction of the vehicle is estimated.

8. The device of claim 7, wherein a first provisional centroid position in the longitudinal direction of the vehicle is determined based on the vehicle weight and a presumed position of a loaded object on the vehicle.

9. The device of claim 7, wherein a first provisional centroid position in the longitudinal direction of the vehicle is determined based on the vehicle weight and a steering response characteristic of the vehicle.

10. The device of claim 7, wherein the estimated centroid position in the longitudinal direction of the vehicle is set to a new provisional centroid position in the longitudinal direction of the vehicle;

a new provisional front wheel axle load value and a new provisional rear wheel axle load value are determined from the new provisional centroid position;

a relation obtained by approximating the front wheel cornering power as a linear function of the front wheel axle load in a predetermined front wheel axle load range in which the new provisional front wheel axle load value is almost centered is employed for the relation between the front wheel axle load and the front wheel cornering power; and

a relation obtained by approximating the rear wheel cornering power as a linear function of the rear wheel axle load in a predetermined rear wheel axle load range in which the new provisional rear wheel axle load value is almost centered is employed for the relation between the rear wheel axle load and the rear wheel cornering power, whereby the centroid position in the longitudinal direction of the vehicle is estimated.

11. The device of claim 10, wherein, until a size of a difference between the provisional centroid position in the longitudinal direction of the vehicle or the new provisional centroid position in the longitudinal direction of the vehicle and the estimated centroid position in the longitudinal direction of the vehicle becomes smaller than a predetermined size, the estimating calculation of the centroid position in the longitudinal direction of the vehicle is executed repeatedly.