Patent ID: 9321321
Filing Date: 2016-04-26
CPC Classification: B60G,G01M

Claim Text:
1. A vehicle state estimating device comprising: a wheel speed detection unit configured to detect a wheel speed of each wheel; a brake operation amount detection unit configured to detect a brake operation amount; a drive operation amount detection unit configured to detect a drive operation amount; a steering operation amount detection unit configured to detect a steering operation amount; a first state amount estimating unit configured to estimate a sprung state amount of a vehicle caused by the operation input based on the brake operation amount, the drive operation amount, and the steering operation amount; a first fluctuation estimating unit configured to estimate a wheel speed fluctuation amount caused by the sprung state amount resulting from the operation input; a second fluctuation estimating unit configured to estimate an actual wheel speed fluctuation amount from which a wheel speed fluctuation amount by a brake/drive force is excluded from the wheel speed fluctuation amount detected by the wheel speed detection unit; a third fluctuation estimating unit configured to estimate a wheel speed fluctuation amount caused by a road surface input by removing the wheel speed fluctuation amount caused by the sprung state amount resulting from the operation input from the actual wheel speed fluctuation amount; and a second state amount estimating unit configured to estimate at least one of a sprung state amount or an unsprung state amount caused by the road surface input based on the wheel speed fluctuation amount caused by the road surface input.