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Vehicle roll angle estimation device

  • US 9,914,461 B2
  • Filed: 03/19/2015
  • Issued: 03/13/2018
  • Est. Priority Date: 03/27/2014
  • Status: Active Grant
First Claim
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1. A device for successively estimating a roll angle of a vehicle body, comprising:

  • an acceleration and angular velocity detector including an acceleration sensor and an angular velocity sensor mounted on said vehicle body, and when an axis extending in the front-rear direction of the vehicle body, an axis extending in the vehicle width direction of the vehicle body, and an axis extending in the up-down direction of the vehicle body are respectively defined as an x axis, a y axis, and a z axis of a local coordinate system fixed to the vehicle body, configured to be capable of detecting x-axis acceleration which is acceleration in the x-axis direction, y-axis acceleration which is acceleration in the y-axis direction, x-axis angular velocity which is angular velocity about the x axis, and z-axis angular velocity which is angular velocity about the z axis;

    a vehicle speed detector configured to detect a speed of said vehicle body in a traveling direction;

    a pitch angle estimator configured to successively estimate a pitch angle of said vehicle body, and calculate an estimated value of the current pitch angle by use of a detection value of speed in the traveling direction detected by said vehicle speed detector, a detection value of x-axis acceleration detected by said acceleration and angular velocity detector, and a previous estimated value of said pitch angle;

    a roll angle velocity estimator configured to successively estimate roll angle velocity of said vehicle body, and calculate an estimated value of the current roll angle velocity by use of detection values of x-axis angular velocity and z-axis angular velocity detected by said acceleration and angular velocity detector, a previous estimated value of said roll angle, and the previous estimated value of the pitch angle estimated by said pitch angle estimator;

    a correction value calculator configured to successively calculate a correction value for estimating the roll angle of said vehicle body, and calculate said correction value by use of the detection value of speed in the traveling direction detected by said vehicle speed detector, detection values of z-axis angular velocity and y-axis acceleration detected by said acceleration and angular velocity detector, the previous estimated value of said roll angle, and the previous estimated value of the pitch angle estimated by said pitch angle estimator; and

    roll angle estimated value calculator configured to calculate an estimated value of the current roll angle of said vehicle body by integrating a value obtained by correcting the estimated value of roll angle velocity estimated by said roll angle velocity estimator by use of the calculated value of the correction value calculated by said correction value calculator.

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