US 11,807,249 B2
Vehicle motion state estimation device, vehicle motion state estimation method, and vehicle
Shingo Nasu, Tokyo (JP); Shinji Seto, Tokyo (JP); Nobuyuki Ichimaru, Hitachinaka (JP); and Ryusuke Hirao, Hitachinaka (JP)
Assigned to HITACHI ASTEMO, LTD., Hitachinaka (JP)
Appl. No. 17/311,858
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Aug. 19, 2019, PCT No. PCT/JP2019/032247
§ 371(c)(1), (2) Date Jun. 8, 2021,
PCT Pub. No. WO2020/129298, PCT Pub. Date Jun. 25, 2020.
Claims priority of application No. 2018-239248 (JP), filed on Dec. 21, 2018.
Prior Publication US 2022/0017105 A1, Jan. 20, 2022
Int. Cl. B60W 40/10 (2012.01); B60W 30/18 (2012.01); B60W 40/109 (2012.01)
CPC B60W 40/109 (2013.01) [B60W 30/18 (2013.01); B60W 2510/22 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/28 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A vehicle motion state estimation device in a vehicle in which a wheel and a vehicle body are coupled via a suspension, the vehicle motion state estimation device, comprising:
a computer configured to:
estimate a wheel speed component caused by vertical motion of the vehicle;
calculate a vertical force in which a frictional force of the wheel caused by motion of the vehicle acts on the vehicle body by geometry of the suspension by multiplying front-rear acceleration and/or lateral acceleration of the vehicle by a constant, wherein the constant is a proportional coefficient based on an angle formed by a line connecting a horizontal axis, an instantaneous rotation center of the suspension, and an acting point of the frictional force on a ground surface of the wheel; and
estimate a state amount of vertical motion of the vehicle based on a wheel speed and the vertical force acting on the vehicle body.