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    • 6. 发明授权
    • Bank angle detecting device for vehicle
    • 车辆侧倾角检测装置
    • US08919197B2
    • 2014-12-30
    • US13211179
    • 2011-08-16
    • Takuya SakamotoYoshiteru Harada
    • Takuya SakamotoYoshiteru Harada
    • G01P3/00B60W40/112B60Q1/12B60W40/103B60W40/114B62J6/02
    • B60W40/112B60Q1/12B60Q2300/112B60Q2300/134B60Q2300/136B60W40/103B60W40/114B60W2300/36B60W2520/10B60W2520/14B60W2520/18B60Y2200/12B62J6/02B62K2207/02
    • A bank angle detecting device includes an angular velocity sensor for detecting a roll rate and a yaw rate of the vehicle, a roll rate estimating circuit for calculating an estimated roll rate, which is an angular velocity about a forward and rearward axis, on the basis of the roll rate, the yaw rate and a travelling speed, a bank angle estimator for calculating an estimated bank angle from the estimated roll rate, a straightforward travel determiner for determining a straightforward travelling condition on the basis of the estimated roll rate and an estimated yaw rate, a time-of-straight-forward-travel drift amount estimator for estimating a time-of-straight-forward drift amount from an output of the angular sensor in the event that the straightforward travel determiner determines a straightforward travel, and an angular velocity corrector for correcting the output of the angular velocity sensor with the time-of-straight-forward drift amount.
    • 一种倾斜角度检测装置,包括:角速度传感器,用于检测车辆的滚转速度和偏航率;滚动速度估计电路,用于计算基于前后轴的角速度的估计滚转速度 滚转速率,横摆率和行驶速度的倾斜角度估计器,用于根据推定的滚动速度计算估计的倾斜角度的倾斜角估计器,用于基于估计的滚动速率确定直接行驶状态的直接行驶确定器, 偏航速度,直线前进行驶漂移量估算器,用于在直线行驶确定器确定直接行驶的情况下,从角度传感器的输出估计直线前进漂移量的时间,以及 角速度校正器,用于校正角速度传感器的输出与直时漂移量。