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 |
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.
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