Roll angle estimation device and transport equipment
First Claim
1. A roll angle estimation device that estimates a roll angle of a movable object, the roll angle estimation device comprising:
- a roll angular velocity detector that detects a roll angular velocity;
a yaw angular velocity detector that detects a yaw angular velocity;
first, second, and third acceleration detectors that detect first, second, and third accelerations, respectively, in at least three directions different from one another;
a speed information detector that detects information regarding a moving speed in a traveling direction of the movable object; and
an estimator that estimates the roll angle of the movable object and also estimates at least an offset error of the roll angular velocity detector and an offset error of the yaw angular velocity detector;
whereinthe estimator estimates the roll angle of the movable object, the offset error of the roll angular velocity detector, and the offset error of the yaw angular velocity detector in a current estimation operation on the basis of a detected value of the roll angular velocity detector, a detected value of the yaw angular velocity detector, detected values of the first, second, and third acceleration detectors, a detected value of the speed information detector, an estimated value of the roll angle obtained in a previous estimation operation, an estimated value of the offset error of the roll angular velocity detector obtained in the previous estimation operation, and an estimated value of the offset error of the yaw angular velocity detector obtained in the previous estimation operation.
1 Assignment
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Accused Products
Abstract
A Kalman filter in a roll angle estimation device estimates a roll angle of a vehicle body, a vehicle speed, a roll angular velocity sensor offset, a yaw angular velocity sensor offset, and a vertical acceleration sensor offset on the basis of detected values of a roll angular velocity sensor, a yaw angular velocity sensor, a vertical acceleration sensor, a longitudinal acceleration sensor, a lateral acceleration sensor, and a rear-wheel speed sensor, and also on the basis of estimated values of the roll angle, the vehicle speed, the roll angular velocity sensor offset, the yaw angular velocity sensor offset, and the vertical acceleration sensor offset obtained in a previous estimation operation.
15 Citations
9 Claims
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1. A roll angle estimation device that estimates a roll angle of a movable object, the roll angle estimation device comprising:
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a roll angular velocity detector that detects a roll angular velocity; a yaw angular velocity detector that detects a yaw angular velocity; first, second, and third acceleration detectors that detect first, second, and third accelerations, respectively, in at least three directions different from one another; a speed information detector that detects information regarding a moving speed in a traveling direction of the movable object; and an estimator that estimates the roll angle of the movable object and also estimates at least an offset error of the roll angular velocity detector and an offset error of the yaw angular velocity detector;
whereinthe estimator estimates the roll angle of the movable object, the offset error of the roll angular velocity detector, and the offset error of the yaw angular velocity detector in a current estimation operation on the basis of a detected value of the roll angular velocity detector, a detected value of the yaw angular velocity detector, detected values of the first, second, and third acceleration detectors, a detected value of the speed information detector, an estimated value of the roll angle obtained in a previous estimation operation, an estimated value of the offset error of the roll angular velocity detector obtained in the previous estimation operation, and an estimated value of the offset error of the yaw angular velocity detector obtained in the previous estimation operation. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A roll angle estimation device that estimates a roll angle of a movable object, the roll angle estimation device comprising:
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a roll angular velocity detector that detects a roll angular velocity; a yaw angular velocity detector that detects a yaw angular velocity; first, second, and third acceleration detectors that detect first, second, and third accelerations, respectively, in at least three directions different from one another; a speed information detector that detects information regarding a moving speed in a traveling direction of the movable object; and an estimator that estimates the roll angle of the movable object and also estimates at least an offset error of the roll angular velocity detector and an offset error of the yaw angular velocity detector;
whereinthe estimator estimates an output parameter group including the roll angle of the movable object, the offset error of the roll angular velocity detector, and the offset error of the yaw angular velocity detector in a current estimation operation on the basis of; a first input parameter group including a detected value of the roll angular velocity detector, a detected value of the yaw angular velocity detector, detected values of the first, second, and third acceleration detectors, and a detected value of the speed information detector; and a second input parameter group including an estimated value of the roll angle obtained in a previous estimation operation, an estimated value of the offset error of the roll angular velocity detector obtained in the previous estimation operation, and an estimated value of the offset error of the yaw angular velocity detector obtained in the previous estimation operation.
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9. A roll angle estimation device that estimates a roll angle of a movable object, the roll angle estimation device comprising:
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a roll angular velocity detector that detects a roll angular velocity; a yaw angular velocity detector that detects a yaw angular velocity; first, second, and third acceleration detectors that detect first, second, and third accelerations, respectively, in at least three directions different from one another; a speed information detector that detects information regarding a moving speed in a traveling direction of the movable object; and an estimator that estimates the roll angle of the movable object and also estimates at least an offset error of the roll angular velocity detector and an offset error of the yaw angular velocity detector;
whereinin a current estimation operation, the estimator; estimates the roll angle of the movable object on the basis of a parameter group including a detected value of the roll angular velocity detector, a detected value of the yaw angular velocity detector, detected values of the first, second, and third acceleration detectors, a detected value of the speed information detector, an estimated value of the roll angle obtained in a previous estimation operation, an estimated value of the offset error of the roll angular velocity detector obtained in the previous estimation operation, and an estimated value of the offset error of the yaw angular velocity detector obtained in the previous estimation operation; estimates the offset error of the roll angular velocity detector on the basis of the parameter group; and estimates the offset error of the yaw angular velocity detector on the basis of the parameter group.
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Specification