Patent Document ID: 10053106
Application ID: 15064047
Patent Flag: 1

Claim One:
1. A vehicle body state quantity estimating device for a vehicle including a wheel speed sensor that obtains a wheel speed of a wheel mounted on the vehicle, comprising: a road surface input calculating unit that calculates an estimated value of a road surface input value on the wheel, using an inverse matrix of a product of a vehicle motion model matrix and a wheel speed influencing element model matrix for the obtained wheel speed, the vehicle motion model matrix representing a mechanical vehicle motion model of the vehicle, the wheel speed influencing element model matrix representing a wheel speed influencing element model using three wheel speed influencing elements as elements that influence the wheel speed, the wheel speed influencing elements comprising a pitch about a center of gravity of a vehicle body, a suspension geometry quantity based on a center of a suspension of the vehicle, and a change in a rolling radius of the wheel; a vehicle body state quantity calculating unit that calculates an estimated value of a vehicle body state quantity using the vehicle motion model matrix on the estimated value of the road surface input calculated by the road surface input calculating unit; and using, in a damping control system, the estimated value of the vehicle body state quantity to control a power source of the vehicle.