Vehicle roll angle estimation device

Patent metadata

Field	Value
Publication number	US-9914461-B2
Application number	US-201514662816-A
Country	US
Kind code	B2
Filing date	Mar 19, 2015
Priority date	Mar 27, 2014
Publication date	Mar 13, 2018
Grant date	Mar 13, 2018

Abstract

A device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. A roll angle estimated value calculation portion calculates an estimated value of the roll angle by integrating a value obtained by correcting an estimated value of roll angle velocity of a vehicle body by use of a correction value, or by correcting a value obtained by integrating an estimated value of roll angle velocity by use of a correction value. The correction value is calculated by use of a detection value of speed of the vehicle body in the traveling direction, detection values of angular velocity and acceleration detected by sensors mounted on the vehicle body, a previous estimated value of the roll angle, and a previous estimated value of the pitch angle of the vehicle body.

First claim

What is claimed is:

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.

2. The roll angle estimation device according to claim 1 , wherein
said correction value calculator is configured to calculate an estimated value of said y-axis acceleration by use of a detection value of speed in the traveling direction detected by said vehicle speed detector, a detection value of z-axis angular velocity detected by said acceleration and angular velocity detector, a previous estimated value of said roll angle, and a previous estimated value of the pitch angle estimated by said pitch angle estimator, and then calculate said correction value according to a deviation between a detection value of y-axis acceleration detected by said acceleration and angular velocity detector and the estimated value of said y-axis acceleration, in such a manner as to bring the deviation closer to zero by a feedback control law.

3. The roll angle estimation device according to claim 2 , further comprising x-axis acceleration error component estimator configured to estimate an x-axis acceleration error component which is a steady-state error component included in a detection value of x-axis acceleration detected by said acceleration and angular velocity detector, wherein:
said pitch angle estimator is configured to include, as part of processing performed to calculate an estimated value of said pitch angle, processing for eliminating an estimated value of the x-axis acceleration error component estimated by said x-axis acceleration error component estimator from a detection value of x-axis acceleration detected by said acceleration and angular velocity detector; and
said x-axis acceleration error component estimator
includes error index value calculator for calculating an error index value, which varies according to said x-axis acceleration error component at the time of a turning motion of said vehicle body, by use of a previous estimated value of roll angle velocity estimated by said roll angle velocity estimator, a previous estimated value of the pitch angle estimated by said pitch angle estimator, a previous estimated value of the roll angle calculated by said roll angle estimated value calculator, detection values of y-axis acceleration and z-axis angular velocity detected by said acceleration and angular velocity detector, and a detection value of speed in the traveling direction detected by said vehicle speed detector, and
is configured to determine an estimated value of said x-axis acceleration error component in such a manner as to bring the error index value calculated by the error index value calculator closer to zero, during a predetermined time period immediately after start of a turning motion of said vehicle body.

4. The roll angle estimation device according to claim 2 , further comprising a y-axis acceleration error component estimator configured to estimate a y-axis acceleration error component, which is a steady-state error component included in a detection value of y-axis acceleration detected by said acceleration and angular velocity detector, wherein:
said correction value calculator is configured to include, as part of processing performed to calculate said correction value, processing for eliminating an estimated value of the y-axis acceleration error component estimated by said y-axis acceleration error component estimator from a detection value of y-axis acceleration detected by said acceleration and angular velocity detector; and
said y-axis acceleration error component estimator includes a forward travel determination device for determining whether or not said vehicle body is in a forward-traveling state, and is configured to obtain an estimated value of said y-axis acceleration error component on the basis of a detection value of y-axis acceleration detected by said acceleration and angular velocity detector, in a state where it is determined by the forward travel determination device that said vehicle body is in a forward-traveling state.

5. The roll angle estimation device according to claim 1 , further comprising x-axis acceleration error component estimator configured to estimate an x-axis acceleration error component which is a steady-state error component included in a detection value of x-axis acceleration detected by said acceleration and angular velocity detector, wherein:
said pitch angle estimator is configured to include, as part of processing performed to calculate an estimated value of said pitch angle, processing for eliminating an estimated value of the x-axis acceleration error component estimated by said x-axis acceleration error component estimator from a detection value of x-axis acceleration detected by said acceleration and angular velocity detector; and
said x-axis acceleration error component estimator
includes error index value calculator for calculating an error index value, which varies according to said x-axis acceleration error component at the time of a turning motion of said vehicle body, by use of a previous estimated value of roll angle velocity estimated by said roll angle velocity estimator, a previous estimated value of the pi

Assignees

• Honda Motor Co Ltd

Inventors

• Okoshi Satoru
• Takenaka Toru
• Shirokura Shinya

Classifications

• B60W2050/002

  Integrating means · CPC title

• B60W2520/16

  Pitch · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2520/125

  Lateral acceleration · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title