Patent ID: 8457832
Filing Date: 2013-06-04
Classification: B60G,B60W

Abstract:
1. A vehicle body speed estimating device comprising: an attitude angle estimating means that estimates a roll angle and a pitch angle that are attitude angles with respect to a vertical axis of a vehicle body; a longitudinal speed computing means that computes longitudinal vehicle body speed that is vehicle body speed in a vehicle longitudinal direction, on the basis of wheel speeds of respective wheels; and a vehicle body speed estimating means that estimates lateral vehicle body speed that is vehicle body speed in a vehicle lateral direction by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity, wherein the vehicle body speed estimating means estimates the lateral vehicle body speed by adding, to the state amounts, a value obtained by subjecting the detected value of the lateral acceleration to low-pass filter processing, and by adding a value obtained by subjecting the detected value of the lateral acceleration to low-pass filter processing, and a detected value of a vehicle steering angle.