DEVICE FOR ESTIMATING POSITION OF CENTER OF GRAVITY AND INERTIA MOMENT

摘要

PROBLEM TO BE SOLVED: To provide a device for estimating a position of the center of gravity and an inertia moment that estimates a position of the center of gravity and an inertia moment of a vehicle according to a load condition thereof.;SOLUTION: A device for estimating a position of the center of gravity and an inertia moment comprises: suspensions 30 L, 30R that respectively suspend driving wheels 9 L, 9R of a vehicle 1; vehicle height sensors 32 L, 32R for measuring respective vertical displacements l, r of the suspensions 30 L, 30R as vehicle height information; and a vehicle ECU 20 for obtaining vehicle height information, controlling the suspensions 30 L, 30R, calculating a vertical displacement y and an inclination angle θ in a roll direction of a vehicle body on the basis of the vehicle height information after a cargo is loaded on the vehicle 1, and calculating a position Xm of the center of gravity of the vehicle body and a weight M of the cargo. The vehicle ECU 20 inclines a vehicle body in a roll direction, obtains vehicle height information as time-series data, and applies an equation of motion of the vehicle body and the time-series data to an optimization algorithm so as to calculate a position Ym of the center of gravity and an inertia moment J of the vehicle body.;SELECTED DRAWING: Figure 3;COPYRIGHT: (C)2018,JPO&INPIT