JP3487134B2 - Vehicle lateral acceleration calculation device - Google Patents
Vehicle lateral acceleration calculation deviceInfo
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- JP3487134B2 JP3487134B2 JP18096897A JP18096897A JP3487134B2 JP 3487134 B2 JP3487134 B2 JP 3487134B2 JP 18096897 A JP18096897 A JP 18096897A JP 18096897 A JP18096897 A JP 18096897A JP 3487134 B2 JP3487134 B2 JP 3487134B2
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- lateral acceleration
- vehicle
- yaw rate
- detected
- calculating
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Description
【０００１】[0001]
【発明の属する技術分野】本発明は、走行する車両の横
加速度を演算する車両の横加速度演算装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle lateral acceleration computing device for computing lateral acceleration of a traveling vehicle.
【０００２】[0002]
【従来の技術】車両が屈曲路を走行すると、その操舵角
によって車両に遠心力、つまり、横加速度が作用する。
また、車両が直線路を走行する場合であっても、その横
方向（幅方向）において傾斜しているときには、その傾
斜方向下側への力（横加速度）が作用する。このような
ことから、従来、走行する車両の横加速度を検出し、そ
の検出値を車両の操舵力制御や制動力制御などに用いて
各種の制御を行っている。この場合、車両の横加速度セ
ンサを搭載し、この横加速度センサによって車両の横加
速度を検出し、その検出値を各制御部に出力していた。2. Description of the Related Art When a vehicle runs on a curved road, a centrifugal force, that is, a lateral acceleration acts on the vehicle due to its steering angle.
Even when the vehicle travels on a straight road, when the vehicle is tilted in the lateral direction (width direction), a downward force (lateral acceleration) acts in the tilt direction. Therefore, conventionally, the lateral acceleration of the traveling vehicle is detected, and the detected value is used for steering force control, braking force control, etc. of the vehicle to perform various controls. In this case, the lateral acceleration sensor of the vehicle is mounted, the lateral acceleration of the vehicle is detected by this lateral acceleration sensor, and the detected value is output to each control unit.
【０００３】[0003]
【発明が解決しようとする課題】この横加速度センサ
は、一般的に、一つの可動電極と二つの固定電極から構
成されたセンサ素子を有しており、ビームで支持された
可動電極が加速度によって移動するときに、固定電極と
の隙間が変化して変化して静電容量が変化し、この静電
容量の変化を電圧信号に変換して出力するものである。
ところが、この横加速度センサは上述のような構成とな
っていることから、周囲の温度変化に対して敏感であ
り、検出基準点がずれることで検出値が誤差が発生して
しまう。そのため、横加速度センサの検出値を周囲の温
度変化に応じて補正する必要がある。This lateral acceleration sensor generally has a sensor element composed of one movable electrode and two fixed electrodes, and the movable electrode supported by the beam is accelerated by acceleration. When moving, the gap with the fixed electrode changes and changes to change the electrostatic capacitance, and this change in electrostatic capacitance is converted into a voltage signal and output.
However, since this lateral acceleration sensor is configured as described above, it is sensitive to changes in the ambient temperature, and an error occurs in the detected value due to the deviation of the detection reference point. Therefore, it is necessary to correct the detection value of the lateral acceleration sensor according to the change in ambient temperature.
【０００４】そこで、横加速度検出器のオフセットを補
正するようにしたものとして、例えば、実公平７−２２
３２５号公報に開示されたものがある。この公報に記載
された「車両の横加速度演算装置」は、検出したヨーレ
イトと横方向速度と操舵角とから車両の直進状態を判定
し、直進状態と判定されたときに、横加速度検出器の検
出値をオフセット補正するものであり、オフセットを正
確にリアルタイムで補正し、高性能な車両制御が可能と
なる。ところが、この「車両の横加速度演算装置」は、
車両の直進状態のときのみ、横加速度検出器の検出値を
オフセット補正しており、直進状態でないときには直前
の更新値を用いている。そのため、車両の屈曲路を連続
して走行している場合には、最新で高精度の横加速度を
求めることができないという問題がある。Therefore, as a device for correcting the offset of the lateral acceleration detector, for example, an actual fair 7-22
There is one disclosed in Japanese Patent No. 325. The "vehicle lateral acceleration computing device" described in this publication determines the straight traveling state of the vehicle from the detected yaw rate, lateral velocity and steering angle, and when it is determined that the vehicle is in the straight traveling state, the lateral acceleration detector The detected value is offset-corrected, and the offset can be accurately corrected in real time to enable high-performance vehicle control. However, this "vehicle lateral acceleration calculation device"
The detected value of the lateral acceleration detector is offset-corrected only when the vehicle is in the straight traveling state, and the immediately previous updated value is used when the vehicle is not in the straight traveling state. Therefore, when the vehicle is continuously traveling on a curved road, there is a problem that the latest lateral acceleration with high accuracy cannot be obtained.
【０００５】本発明はこのような問題を解決するもので
あって、簡単な構成で車両の横加速度を精度良く検出す
ることを可能とした車両の横加速度演算装置を提供する
ことを目的とする。The present invention solves such a problem, and an object of the present invention is to provide a vehicle lateral acceleration computing device capable of accurately detecting the vehicle lateral acceleration with a simple structure. .
【０００６】[0006]
【課題を解決するための手段】上述の目的を達成するた
めの請求項１の発明の車両の横加速度演算装置では、車
速検出手段と操舵角検出手段とヨーレイト検出手段とを
設けると共に、車速と操舵角に基づいて基準ヨーレイト
を算出する基準ヨーレイト算出手段を設け、横断勾配算
出手段が検出ヨーレイトと基準ヨーレイトに基づいて車
両が走行する路面の横断勾配を算出し、横加速度演算手
段が車速と検出ヨーレイトと路面の横断勾配とに基づい
て車両の横加速度を演算するようにしてある。従って、
横加速度センサを用いずに車両の横加速度を求めること
ができ、しかも、温度変化による誤差をなくして精度の
高い横加速度とすることができる。According to a first aspect of the present invention, there is provided a lateral acceleration computing device for a vehicle, which is provided with a vehicle speed detecting means, a steering angle detecting means, and a yaw rate detecting means. A reference yaw rate calculating means for calculating the reference yaw rate based on the steering angle is provided, the transverse gradient calculating means calculates the transverse gradient of the road surface on which the vehicle travels based on the detected yaw rate and the reference yaw rate, and the lateral acceleration computing means detects the vehicle speed. The lateral acceleration of the vehicle is calculated based on the yaw rate and the cross slope of the road surface. Therefore,
The lateral acceleration of the vehicle can be obtained without using the lateral acceleration sensor, and furthermore, the lateral acceleration with high accuracy can be obtained by eliminating the error due to the temperature change.
【０００７】また、請求項２の発明の車両の横加速度演
算装置では、横加速度検出手段を設け、低周波成分除去
手段が検出横加速度と演算横加速度とを比較して検出横
加速度の低周波誤差を除去するようにしてある。従っ
て、横加速度の高周波部分は検出横加速度を用いて、横
加速度の低周波部分は演算横加速度を用いることで、高
精度の横加速度を求めることができる。Further, in the lateral acceleration calculating device for a vehicle according to the present invention, the lateral acceleration detecting means is provided, and the low frequency component removing means compares the detected lateral acceleration with the calculated lateral acceleration to detect the low frequency of the detected lateral acceleration. The error is removed. Therefore, by using the detected lateral acceleration for the high frequency portion of the lateral acceleration and using the calculated lateral acceleration for the low frequency portion of the lateral acceleration, a highly accurate lateral acceleration can be obtained.
【０００８】[0008]
【発明の実施の形態】以下、図面に基づいて本発明の実
施の形態を詳細に説明する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.
【０００９】図１に本発明の一実施形態に係る車両の横
加速度演算装置を表す制御ブロック、図２に車両の横加
速度の成分を説明するための概略を示す。FIG. 1 is a control block showing a vehicle lateral acceleration computing device according to an embodiment of the present invention, and FIG. 2 is a schematic diagram for explaining a vehicle lateral acceleration component.
【００１０】まず、本実施形態にて用いる車両の横加速
度の成分について説明する。図２に示すように、例え
ば、車両１１が横方向（幅方向）に所定角度θ（以下、
横断勾配θと称する。）だけ傾斜した曲線道路の路面１
２上を走行するとき、この車両１１には、路面１２の横
断勾配θによって発生する加速度Ａと、遠心力によって
発生する加速度Ｂとが作用する。従って、実際の車両１
１の横加速度は、この２つの加速度Ａ，Ｂの差、即ち、
Ｇ＝Ｂ−Ａ
となる。First, the components of the lateral acceleration of the vehicle used in this embodiment will be described. As shown in FIG. 2, for example, when the vehicle 11 laterally (widthwise) has a predetermined angle θ (hereinafter,
It is referred to as the cross slope θ. ) Curved road surface 1 inclined only
When traveling on 2, the vehicle 11 is subjected to the acceleration A generated by the transverse gradient θ of the road surface 12 and the acceleration B generated by the centrifugal force. Therefore, the actual vehicle 1
The lateral acceleration of 1 is the difference between the two accelerations A and B, that is, G = B−A.
【００１１】また、例えば、車両１１が道路の路面１２
上を走行するとき、この車両１１のほぼ中央部に搭載さ
れたヨーレイトセンサは車両１１の垂直軸まわりの回転
速度を検出しており、この道路が曲線路である場合、ヨ
ーレイトセンサが検出した検出値は、路面の横断勾配に
よる成分と道路の屈曲状態による成分とからなってい
る。即ち、
ヨーレイト検出値＝操舵角の成分によるヨーレイト＋横
断勾配の成分によるヨーレイト
となる。Further, for example, the vehicle 11 is a road surface 12 of a road.
When traveling above, the yaw rate sensor mounted in the substantially central part of the vehicle 11 detects the rotation speed of the vehicle 11 around the vertical axis, and when this road is a curved road, the detection detected by the yaw rate sensor The value consists of a component due to the cross slope of the road surface and a component due to the bending state of the road. That is, the yaw rate detection value = the yaw rate based on the steering angle component + the yaw rate based on the transverse gradient component.
【００１２】このようなことを考慮に入れて、本実施形
態の車両の横加速度演算装置は、図１に示すように、車
両の速度Ｖを検出する車速検出手段としての車速センサ
２１と、車両の操舵角Ｈを検出する操舵角検出手段とし
ての操舵角センサ２２と、車両のヨーレイトγs を検出
するヨーレイト検出手段としてのヨーレイトセンサ２３
と、車速Ｖと操舵角Ｈに基づいて基準ヨーレイトγb を
算出する基準ヨーレイト算出手段２４と、検出ヨーレイ
トγs と基準ヨーレイトγb に基づいて車両が走行する
路面の横断勾配θを算出する横断勾配算出手段２５、車
速Ｖと検出ヨーレイトγs と路面の横断勾配θとに基づ
いて車両の横加速度Ｇb を演算する横加速度演算手段２
６と、車両の横加速度Ｇs を検出する横加速度検出手段
としての横加速度センサ２７と、検出横加速度Ｇs と演
算横加速度Ｇb とを比較してこの演算横加速度Ｇb の低
周波誤差を除去する低周波成分除去手段２８とを具えて
いる。Taking the above into consideration, the vehicle lateral acceleration computing device of this embodiment, as shown in FIG. 1, has a vehicle speed sensor 21 as a vehicle speed detecting means for detecting a vehicle speed V, and a vehicle speed sensor 21. Steering angle sensor 22 for detecting the steering angle H of the vehicle and yaw rate sensor 23 for detecting the yaw rate γ s of the vehicle.
And a reference yaw rate calculating means 24 for calculating a reference yaw rate γ b based on the vehicle speed V and the steering angle H, and a traverse for calculating a transverse gradient θ of a road surface on which the vehicle travels based on the detected yaw rate γ s and the reference yaw rate γ b. The gradient calculating means 25, the lateral acceleration calculating means 2 for calculating the lateral acceleration G b of the vehicle based on the vehicle speed V, the detected yaw rate γ s, and the transverse gradient θ of the road surface.
6, a lateral acceleration sensor 27 as lateral acceleration detecting means for detecting a lateral acceleration G s of the vehicle, by comparing the detected lateral acceleration G s and the calculated lateral acceleration G b low frequency error in the calculated lateral acceleration G b And a low frequency component removing means 28 for removing the.
【００１３】従って、車速センサ２１が車両の速度Ｖを
検出し、操舵角センサ２２が車両の操舵角Ｈを検出する
と、基準ヨーレイト算出手段２４はこの車速Ｖと操舵角
Ｈとから、下記数式（１）に基づいて基準ヨーレイトγ
b を算出する。この基準ヨーレイトγb は車両の操舵成
分によるものである。Therefore, when the vehicle speed sensor 21 detects the vehicle speed V and the steering angle sensor 22 detects the vehicle steering angle H, the reference yaw rate calculating means 24 calculates the following mathematical expression (2) from the vehicle speed V and the steering angle H. Reference yaw rate γ based on 1)
Calculate b . This reference yaw rate γ b is due to the steering component of the vehicle.
【００１４】 γb ＝ＶＨ／｛（１＋ＡＶ2 ）・Ｌ｝ ・・・（１） Ａ：スタビリティファクタ Ｌ：ホイールベースΓ b = VH / {(1 + AV 2 ) · L} (1) A: Stability factor L: Wheel base
【００１５】一方、ヨーレイトセンサ２３は車両のヨー
レイトγs を検出しており、このヨーレイトγs は操舵
角の成分によるヨーレイトと横断勾配の成分によるヨー
レイトを合わせたものであり、横断勾配算出手段２５
は、下記数式（２）のように、この検出ヨーレイトγs
から基準ヨーレイトγb を減算して偏差、即ち、横断勾
配の成分によるヨーレイトγc を算出する。
γc ＝γs −γb ・・・（２）On the other hand, the yaw rate sensor 23 detects the yaw rate γ s of the vehicle. This yaw rate γ s is a combination of the yaw rate due to the steering angle component and the yaw rate due to the transverse gradient component, and the transverse gradient calculating means 25
Is the detected yaw rate γ s
The reference yaw rate γ b is subtracted from the deviation, that is, the yaw rate γ c due to the component of the transverse gradient is calculated. γ c = γ s −γ b (2)
【００１６】そして、この横断勾配算出手段２５はヨー
レイトγc と車両の諸元及び車両状態量とから下記数式
（３）に基づいて路面の横断勾配θを算出する。The cross slope calculating means 25 calculates the cross slope θ of the road surface from the yaw rate γ c , the specifications of the vehicle and the vehicle state quantity based on the following mathematical expression (3).
【００１７】 sinθ＝（１／Ａｇ）・｛（１＋ＡＶ2 ）γc ／Ｖ｝ ・・・（３） ｇ：重力加速度Sin θ = (1 / Ag) · {(1 + AV 2 ) γ c / V} (3) g: Gravitational acceleration
【００１８】このように路面の横断勾配θが算出される
と、横加速度演算手段２６はこの横断勾配θと車速Ｖと
検出ヨーレイトγs とに基づいて車両の横加速度Ｇb を
演算する。ここで、前述したように、横加速度は、遠心
力による発生する加速度から路面の横断勾配θによって
発生する加速度を減算したものであるから、下記数式
（４）を用いて横加速度Ｇb を演算する。When the transverse gradient θ of the road surface is calculated in this way, the lateral acceleration computing means 26 computes the lateral acceleration G b of the vehicle based on the transverse gradient θ, the vehicle speed V and the detected yaw rate γ s . Here, as described above, the lateral acceleration is obtained by subtracting the acceleration generated by the transverse gradient θ of the road surface from the acceleration generated by the centrifugal force. Therefore, the lateral acceleration G b is calculated using the following mathematical expression (4). To do.
【００１９】 Ｇb ＝Ｖ・γs −sinθ・ｇ ・・・（４）G b = V · γ s −sin θ · g (4)
【００２０】一方、横加速度センサ２７は車両の横加速
度Ｇs を検出しており、この検出横加速度Ｇs が温度変
化による検出誤差の影響を受けていなければ、検出横加
速度Ｇs と演算横加速度Ｇb とが等しくなる。従って、
低周波成分除去手段２８はこの検出横加速度Ｇs と演算
横加速度Ｇb とを比較し、この検出横加速度Ｇs から演
算横加速度Ｇb を減算することで、温度による誤差を求
めることができ、更にこの値をローパスフィルタにかけ
た低周波誤差を検出横加速度Ｇs から減算することで、
温度変化による検出誤差を除去した高精度の横加速度Ｇ
を検出することができる。On the other hand, the lateral acceleration sensor 27 detects the lateral acceleration G s of the vehicle. If the detected lateral acceleration G s is not affected by the detection error due to the temperature change, the detected lateral acceleration G s and the calculated lateral acceleration G s. Acceleration G b becomes equal. Therefore,
Low frequency component removal means 28 compares this detected lateral acceleration G s and the calculated lateral acceleration G b, by subtracting the estimated lateral acceleration G b from the detected lateral acceleration G s, it is possible to determine the error due to temperature By further subtracting the low frequency error obtained by applying this value to the detected lateral acceleration G s ,
High-accuracy lateral acceleration G without detection error due to temperature change
Can be detected.
【００２１】このように本実施形態の車両の横加速度演
算装置にあっては、横断勾配算出手段２５が車速Ｖと操
舵角Ｈとヨーレイトγs とから路面の横断勾配θを算出
し、横加速度演算手段２６がこの横断勾配θと車速Ｖと
検出ヨーレイトγs とから車両の横加速度Ｇb を演算
し、低周波成分除去手段２８が横加速度センサ２７が検
出した車両の横加速度Ｇs から演算横加速度Ｇb を減算
することで温度による誤差を求めることができ、検出横
加速度Ｇs からこの誤差を除去して横加速度Ｇを検出す
るようにしている。従って、検出横加速度Ｇs と演算横
加速度Ｇb とが等しければ、横加速度センサ２７は温度
変化による影響を受けていない検出横加速度Ｇs を得る
ことができ、横加速度センサ２７が温度変化による影響
を受けていても、検出横加速度Ｇs と演算横加速度Ｇb
との差からその誤差を求めて除去することができ、何れ
の場合であっても、高精度な横加速度を算出できる。As described above, in the vehicle lateral acceleration computing device of this embodiment, the lateral gradient calculating means 25 calculates the lateral gradient θ of the road surface from the vehicle speed V, the steering angle H, and the yaw rate γ s to obtain the lateral acceleration. The calculating means 26 calculates the lateral acceleration G b of the vehicle from the transverse gradient θ, the vehicle speed V and the detected yaw rate γ s, and the low frequency component removing means 28 calculates from the lateral acceleration G s of the vehicle detected by the lateral acceleration sensor 27. An error due to temperature can be obtained by subtracting the lateral acceleration G b , and the lateral acceleration G is detected by removing this error from the detected lateral acceleration G s . Therefore, if the detected lateral acceleration G s is equal to the calculated lateral acceleration G b , the lateral acceleration sensor 27 can obtain the detected lateral acceleration G s that is not influenced by the temperature change, and the lateral acceleration sensor 27 is caused by the temperature change. Even if affected, the detected lateral acceleration G s and the calculated lateral acceleration G b
It is possible to obtain and remove the error from the difference between and, and in any case, highly accurate lateral acceleration can be calculated.
【００２２】[0022]
【発明の効果】以上、実施形態において詳細に説明した
ように請求項１の発明の車両の横加速度演算装置によれ
ば、車速検出手段と操舵角検出手段とヨーレイト検出手
段とを設け、基準ヨーレイト算出手段によって検出車速
と検出操舵角に基づいて基準ヨーレイトを算出し、横断
勾配算出手段が検出ヨーレイトと基準ヨーレイトとに基
づいてこの車両が走行する路面の横断勾配を算出し、横
加速度演算手段が車速と検出ヨーレイトと路面の横断勾
配とに基づいて車両の横加速度を演算するようにしたの
で、横加速度センサを用いずに簡単な構成で車両の横加
速度を演算することができ、しかも、温度変化による誤
差をなくして精度の高い横加速度を容易に求めることが
できる。As described above in detail in the embodiments, according to the vehicle lateral acceleration calculating device of the invention of claim 1, the vehicle speed detecting means, the steering angle detecting means and the yaw rate detecting means are provided, and the reference yaw rate is provided. The calculating means calculates the reference yaw rate based on the detected vehicle speed and the detected steering angle, and the transverse gradient calculating means calculates the transverse gradient of the road surface on which the vehicle travels based on the detected yaw rate and the reference yaw rate. Since the lateral acceleration of the vehicle is calculated based on the vehicle speed, the detected yaw rate, and the cross slope of the road surface, the lateral acceleration of the vehicle can be calculated with a simple configuration without using the lateral acceleration sensor. It is possible to easily obtain a highly accurate lateral acceleration by eliminating an error due to a change.
【００２３】また、請求項２の発明の車両の横加速度演
算装置によれば、車両の横加速度を検出する横加速度検
出手段を設け、低周波成分除去手段がこの検出横加速度
と演算横加速度とを比較してこの検出横加速度の低周波
誤差を除去するようにしたので、横加速度の高周波部分
は検出横加速度を用いて、横加速度の低周波部分は演算
横加速度を用いることで、高精度の横加速度を求めるこ
とができる。Further, according to the vehicle lateral acceleration calculating device of the invention of claim 2, the lateral acceleration detecting means for detecting the lateral acceleration of the vehicle is provided, and the low frequency component removing means provides the detected lateral acceleration and the calculated lateral acceleration. Since the low frequency error of the detected lateral acceleration is removed by comparing the above, the detected lateral acceleration is used for the high frequency part of the lateral acceleration, and the calculated lateral acceleration is used for the low frequency part of the lateral acceleration. The lateral acceleration of can be calculated.
【図１】本発明の一実施形態に係る車両の横加速度演算
装置を表す制御ブロック図である。FIG. 1 is a control block diagram showing a lateral acceleration computing device for a vehicle according to an embodiment of the present invention.
【図２】車両の横加速度の成分を説明するための概略図
である。FIG. 2 is a schematic diagram for explaining a lateral acceleration component of a vehicle.
２１ 車速センサ（車速検出手段） ２２ 操舵角センサ（操舵角検出手段） ２３ ヨーレイトセンサ（ヨーレイト検出手段） ２４ 基準ヨーレイト検出手段 ２５ 横断勾配算出手段 ２６ 横加速度演算手段 ２７ 横加速度センサ（横加速度検出手段） ２８ 低周波除去手段 21 Vehicle speed sensor (vehicle speed detection means) 22 Steering angle sensor (steering angle detection means) 23 Yaw rate sensor (yaw rate detection means) 24 Reference Yaw Rate Detection Means 25 Cross slope calculation means 26 Lateral acceleration calculation means 27 Lateral acceleration sensor (lateral acceleration detection means) 28 Low frequency removing means
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 平２−151571（ＪＰ，Ａ) 特開 平８−219799（ＪＰ，Ａ) 特開 平６−106936（ＪＰ，Ａ) 特開 平８−35839（ＪＰ，Ａ) (58)調査した分野(Int.Cl.7，ＤＢ名) G01C 21/12 B62D 6/00 B60G 17/015 ─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-2-151571 (JP, A) JP-A-8-219799 (JP, A) JP-A-6-106936 (JP, A) JP-A-8- 35839 (JP, A) (58) Fields investigated (Int.Cl. 7 , DB name) G01C 21/12 B62D 6/00 B60G 17/015
Claims (2)
前記車両の操舵角を検出する操舵角検出手段と、前記車
両のヨーレイトを検出するヨーレイト検出手段と、前記
車速検出手段が検出した車速及び前記操舵角検出手段が
検出した操舵角に基づいて基準ヨーレイトを算出する基
準ヨーレイト算出手段と、前記ヨーレイト検出手段が検
出した検出ヨーレイト及び前記基準ヨーレイト算出手段
が算出した基準ヨーレイトに基づいて前記車両が走行す
る路面の横断勾配を算出する横断勾配算出手段と、前記
車速検出手段が検出した車速と前記ヨーレイト検出手段
が検出した検出ヨーレイトと前記横断勾配算出手段が算
出した路面の横断勾配とに基づいて車両の横加速度を演
算する横加速度演算手段とを具えたことを特徴とする車
両の横加速度演算装置。1. Vehicle speed detection means for detecting the speed of a vehicle,
Steering angle detecting means for detecting the steering angle of the vehicle, yaw rate detecting means for detecting the yaw rate of the vehicle, reference yaw rate based on the vehicle speed detected by the vehicle speed detecting means and the steering angle detected by the steering angle detecting means. A reference yaw rate calculating means for calculating the yaw rate detecting means, and a transverse gradient calculating means for calculating a transverse gradient of a road surface on which the vehicle runs based on the reference yaw rate detected by the yaw rate calculating means and the reference yaw rate calculating means, A lateral acceleration calculating means for calculating a lateral acceleration of the vehicle based on the vehicle speed detected by the vehicle speed detecting means, the detected yaw rate detected by the yaw rate detecting means, and the transverse gradient of the road surface calculated by the transverse gradient calculating means. A lateral acceleration calculating device for a vehicle characterized by the above.
において、前記車両の横加速度を検出する横加速度検出
手段と、該横加速度検出手段が検出した検出横加速度と
前記横加速度演算手段が演算した演算横加速度とを比較
して該検出横加速度の低周波誤差を除去する低周波成分
除去手段とを設けたことを特徴とする車両の横加速度演
算装置。2. The lateral acceleration calculating device for a vehicle according to claim 1, wherein the lateral acceleration detecting means for detecting the lateral acceleration of the vehicle, the detected lateral acceleration detected by the lateral acceleration detecting means, and the lateral acceleration calculating means. A lateral acceleration calculating device for a vehicle, comprising: low frequency component removing means for comparing the calculated lateral acceleration to remove a low frequency error of the detected lateral acceleration.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18096897A JP3487134B2 (en) | 1997-07-07 | 1997-07-07 | Vehicle lateral acceleration calculation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18096897A JP3487134B2 (en) | 1997-07-07 | 1997-07-07 | Vehicle lateral acceleration calculation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH1123311A JPH1123311A (en) | 1999-01-29 |
| JP3487134B2 true JP3487134B2 (en) | 2004-01-13 |
Family
ID=16092436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18096897A Expired - Fee Related JP3487134B2 (en) | 1997-07-07 | 1997-07-07 | Vehicle lateral acceleration calculation device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3487134B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016204018A1 (en) * | 2016-03-11 | 2017-09-14 | Robert Bosch Gmbh | Method and device for determining the bank of a road |
| JP7235015B2 (en) * | 2020-07-17 | 2023-03-08 | トヨタ自動車株式会社 | automatic steering system |
| CN114435371B (en) * | 2022-03-25 | 2024-03-01 | 北京主线科技有限公司 | Road gradient estimation method and device |
-
1997
- 1997-07-07 JP JP18096897A patent/JP3487134B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH1123311A (en) | 1999-01-29 |
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