Patent ID: 8788171
Filing Date: 2014-07-22
Classification: B60T,G01C,G01P

Abstract:
1. A sensor drift amount estimating device comprising: attitude angle estimating means for, on the basis of a sensor signal corresponding to a detected value of a motion state amount of vehicle motion, computing a time differential amount of an attitude angle with respect to a vertical axis of a vehicle body, and integrating the computed time differential amount of the attitude angle, and estimating the attitude angle; computing means for, on the basis of the sensor signal and the attitude angle estimated by the attitude angle estimating means, computing a time differential amount of the attitude angle obtained from equations of motion for vehicle motion; drift amount estimating means for estimating a sensor drift amount of the sensor signal by using a relationship that (A) a time differential amount of the attitude angle that is computed by the attitude angle estimating means, and (B) the time differential amount of the attitude angle computed by the computing means based on the sensor signal which is corrected on the basis of the sensor drift amount, are equal; and correcting means for correcting the sensor signal on the basis of the sensor drift amount estimated by the drift amount estimating means, wherein the attitude angle estimating means estimates the attitude angle on the basis of the sensor signal corrected by the correcting means.