公开(公告)号：US11807249B2

公开(公告)日：2023-11-07

申请号：US17311858

申请日：2019-08-19

Applicant: Hitachi Astemo, Ltd.

Inventor： Shingo Nasu ,  Shinji Seto ,  Nobuyuki Ichimaru ,  Ryusuke Hirao

IPC: B60W40/10 ,  B60W30/18 ,  B60W40/109

CPC classification number: B60W40/109 ,  B60W30/18 ,  B60W2510/22 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28

Abstract: An object of the present invention is to provide a vehicle motion state estimation device and method that can estimate the vertical motion state amount with high accuracy by taking into consideration vertical force in which the frictional force acting in the front-rear direction or lateral direction of the wheel acts on the vehicle body due to the geometry of suspension. A vehicle motion state estimation device in a vehicle in which a wheel and a vehicle body are coupled via a suspension, the vehicle motion state estimation device including: a vertical motion-caused wheel speed component estimation unit that estimates a wheel speed component caused by vertical motion of the vehicle; a vertical force estimation unit that calculates vertical force in which frictional force of the wheel caused by motion of the vehicle acts on the vehicle body by geometry of the suspension; and a vertical motion estimation unit that estimates a state amount of vertical motion of a vehicle, in which the vertical motion estimation unit estimates a state amount of vertical motion of the vehicle based on a wheel speed component from the vertical motion-caused wheel speed component estimation unit and vertical force acting on the vehicle body from the vertical force estimation unit.

公开(公告)号：US12103555B2

公开(公告)日：2024-10-01

申请号：US17918019

申请日：2021-04-12

Applicant: Hitachi Astemo, Ltd.

Inventor： Shingo Nasu ,  Kentarou Ueno ,  Ryusuke Hirao ,  Masaru Yamasaki

IPC: B60W60/00 ,  B60W40/072

CPC classification number: B60W60/001 ,  B60W40/072 ,  B60W2520/06

Abstract: A vehicle motion control device generates a travel route where behavior of a vehicle traveling on a curve is small and comfortable ride is achieved even when the vehicle travels on a continuous curve. The control device includes a travel track generation unit that generates, based on information on a curvature of a first curve on a lane existing in a traveling direction of a vehicle and a curvature of a second curve connected to the first curve, a travel route by setting curvature of the travel route at a time of traveling on a curve having a smaller curvature between the first and second curves to be larger than the curvature of the curve and setting a curvature of the travel route at a time of traveling on a curve having a larger curvature between the first and second curves to be smaller than the curvature of the curve.