Patent ID: 9075703
Filing Date: 2015-07-07
Classification: B60G,B60T,B60W,G06F,G07C

Abstract:
1. A vehicle state amount estimating device comprising: an actual state amount acquiring unit configured to acquire an actual state amount that is an actual measurement value of a traveling state of a vehicle at a time of traveling of the vehicle; an estimated state amount estimation unit configured to estimate, based on a driving operation of the vehicle, an estimated state amount that is an estimated value of a traveling state of the vehicle; a target state amount obtaining unit configured to obtain a target state amount used in a behavior control of the vehicle by multiplying the actual state amount and the estimated state amount by weighting gains; and a weighting gain setting unit configured to set the weighting gains based on a drift value indicating a magnitude of a slide slipping of the vehicle, wherein the weighting gain setting unit is configured to maintain, regardless of the drift value, a first state in which the weighting gain multiplying the actual state amount is larger than the weighting gain multiplying the estimated state amount, to release the first state when a state in which a difference between the actual state amount and the estimated state amount is smaller than or equal to a second value is continued for a predetermined time, and to tolerate an increase in the weighting gain multiplying the actual state amount according to the drift value when maintaining the first state, wherein at least one of a stabilizer or a brake hydraulic pressure control device of a vehicle is controlled based on the obtained target state amount.