Title:
Mobile
Document Type and Number:
Japanese Patent JP5907037
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To enable accurate estimation of a slope angle of a vehicle body, even when weight, the moment of inertia, and center-of-gravity height, of the vehicle body vary.SOLUTION: The moving body includes: a vehicle body rotatable around a rotary shaft; slope angular velocity detection means attached to the vehicle body, for detecting slope angular velocity of the vehicle body around the rotary shaft; first acceleration detection means attached to the vehicle body, for detecting acceleration of the vehicle body in a direction orthogonal to the rotary shaft and orthogonal to an axis line of the vehicle body; second acceleration detection means for detecting acceleration of the moving body in a direction orthogonal to the rotary shaft and parallel to a road surface; and slope angular velocity error estimation means for estimating an error of the slope angular velocity detected at the slope angular velocity detection means, using the equation of state, with the slope angular velocity detected at the slope angular velocity detection means, slope angular acceleration obtained by differentiating the slope angular velocity, and the acceleration detected at the second acceleration detection means, as input, and with the acceleration detected at the first acceleration detection means as an observed value.
Inventors:
Hirose Tokuaki
Application Number:
JP2012229159A
Publication Date:
April 20, 2016
Filing Date:
October 16, 2012
Export Citation:
Assignee:
Toyota Central R & D Labs.
International Classes:
B62K17/00; B62K3/00
Domestic Patent References:
| JP200745331A | ||||
| JP200889531A | ||||
| JP2005335678A | ||||
| JP200859497A | ||||
| JP2010208530A |
Attorney, Agent or Firm:
Kaiyu International Patent Office