JP2007030771A - Lateral acceleration calculation method and lateral acceleration calculation apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate a deviation of estimated lateral acceleration caused by wheel slip.
A temporary lateral acceleration calculation unit 21b that calculates a temporary lateral acceleration of a vehicle from wheel speeds, a wheel speed difference calculation unit 21c that calculates a wheel speed difference between left and right front and rear wheels, and an estimated vehicle body speed are calculated. When the estimated vehicle speed calculation unit 21d, the estimated wheel speed difference acquisition unit 21e that acquires the estimated wheel speed difference within a possible range by the estimated vehicle speed, and the wheel speed difference are within the range of the estimated wheel speed difference acquired A lateral acceleration calculation unit 21f that sets the temporary lateral acceleration as the estimated lateral acceleration and corrects the temporary lateral acceleration in the decreasing direction to obtain the estimated lateral acceleration of the vehicle when the wheel speed difference is not within the range of the acquired estimated wheel speed difference; It was equipped.
[Selection] Figure 4

Description

  The present invention relates to a lateral acceleration calculation method and a lateral acceleration calculation apparatus.

  When vehicle behavior control such as anti-lock brake control is performed, acceleration in the lateral direction of the vehicle body (referred to as “lateral acceleration” in this specification) may be detected or estimated and used for control information. . The lateral acceleration in this case can be directly detected by using an acceleration sensor, but it is disadvantageous in terms of cost to provide the acceleration sensor, so the estimated lateral acceleration is calculated by using the difference between the left and right wheel speeds. Is obtained (see, for example, Patent Document 1).

JP-A-8-26089

By the way, when calculating the estimated lateral acceleration based on the difference between the left and right wheel speeds, the estimated lateral acceleration is calculated in consideration of the vehicle body speed on the assumption that the wheels are following the ground.
However, when the vehicle is turning, for example, the left and right wheels may slip and the wheels may not follow the road surface. If the estimated lateral acceleration is directly calculated by the conventional method, an incorrect value is calculated.

  Therefore, an object of the present invention is to eliminate a shift in estimated lateral acceleration caused by wheel slip.

  In order to solve the above-described problems, the present invention provides a method for calculating an estimated lateral acceleration of a vehicle based on left and right wheel speeds. This method calculates the temporary lateral acceleration of the vehicle from the wheel speed, calculates the wheel speed difference between the front and rear wheels for each of the left and right sides of the vehicle, and calculates the estimated vehicle speed of the vehicle. Calculated when the estimated wheel speed difference is within the possible range of the estimated wheel speed difference and the calculated wheel speed difference does not fall within the acquired estimated wheel speed difference range. And a process of correcting the provisional lateral acceleration in a decreasing direction.

  As described above, when the calculated wheel speed difference does not fall within the range of the acquired estimated wheel speed difference, the larger the difference from the estimated wheel speed difference range, the more likely the wheels are slipping. Can be said to be expensive. Therefore, when the calculated wheel speed difference does not fall within the range of the acquired estimated wheel speed difference, the deviation from the true lateral acceleration is reduced by correcting the calculated temporary lateral acceleration in the decreasing direction. .

  The present invention also provides an apparatus for calculating an estimated lateral acceleration of a vehicle based on left and right wheel speeds. This device includes a temporary lateral acceleration calculation unit that calculates a temporary lateral acceleration of a vehicle from wheel speeds, a wheel speed difference calculation unit that calculates a wheel speed difference between front and rear wheels for each of the left and right sides of the vehicle, and vehicle estimation. An estimated vehicle speed calculation unit that calculates a vehicle speed, an estimated wheel speed difference acquisition unit that acquires an estimated wheel speed difference within a possible range based on the calculated estimated vehicle speed, and a calculated wheel speed difference are: When the calculated temporary lateral acceleration is the estimated lateral acceleration of the vehicle when it falls within the acquired estimated wheel speed difference range, and the calculated wheel speed difference does not fall within the acquired estimated wheel speed difference range And a lateral acceleration calculation unit that corrects the calculated temporary lateral acceleration in a decreasing direction to obtain the estimated lateral acceleration of the vehicle.

  Even with such a device, when the calculated wheel speed difference does not fall within the range of the estimated estimated wheel speed difference, the calculated temporary lateral acceleration is corrected in the decreasing direction in the same manner as described above. Thus, since the estimated lateral acceleration of the vehicle is used, the deviation of the estimated lateral acceleration due to wheel slip can be eliminated.

In the above-described device, the lateral acceleration calculation unit can set the previous temporary lateral acceleration as the current estimated lateral acceleration of the vehicle when the wheel speed difference does not fall within the range of the estimated wheel speed difference. Further, the estimated wheel speed difference can be acquired based on a map or function indicating a predetermined relationship between the vehicle body speed and the wheel speed difference.
Further, the maps are individually set for the case where the wheel speed difference calculated by the wheel speed difference calculation unit is large on the driving wheel side and the case on the driven wheel side, and the estimated wheel speed difference acquisition unit is based on the wheel speed difference. A map can be selected to obtain the estimated wheel speed difference.
Even with such a device, it is possible to eliminate a shift in estimated lateral acceleration caused by wheel slip.

  According to the present invention, it is possible to eliminate a shift in estimated lateral acceleration caused by wheel slip.

  Next, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. FIG. 1 is a configuration diagram showing a vehicle brake system including a vehicle brake hydraulic pressure control device to which a lateral acceleration calculation apparatus according to an embodiment of the present invention is applied, and FIG. 2 is a hydraulic circuit diagram of a hydraulic unit. It is.

As shown in FIG. 1, the vehicle brake fluid pressure control device 100 is for appropriately controlling the braking force (brake fluid pressure) applied to each wheel T of the vehicle CR, and is provided with an oil passage and various parts. The hydraulic unit 10 and the control device 20 for appropriately controlling various components in the hydraulic unit 10 are mainly provided. Further, a wheel speed sensor 30 for detecting the wheel speed of each wheel T of the vehicle CR, specifically, the rotational speed of the wheel T, is connected to the control device 20 of the vehicle brake hydraulic pressure control device 100. . The vehicle CR will be described as a front wheel drive vehicle in which the front wheel side is a drive wheel.
The brake hydraulic pressure output from the hydraulic unit 10 is supplied to a wheel cylinder H provided on each wheel T via a pipe, and is provided on each wheel T via each wheel cylinder H. The brake fluid pressure is applied to the wheel brakes FL, RR, RL, FR.
Further, the control device 20 includes, for example, a CPU, a RAM, a ROM, and an input / output circuit, and performs various arithmetic processes based on the input from each wheel speed sensor 30 and the programs and data stored in the ROM. The control is executed by The wheel cylinder H is a fluid that converts the brake fluid pressure generated by the master cylinder M and the vehicle brake fluid pressure control device 100 into the operating force of the wheel brakes FL, RR, RL, FR provided on each wheel T. Each of which is connected to the hydraulic unit 10 of the vehicle brake hydraulic pressure control device 100 via a pipe.

  The wheel speed sensor 30 is a sensor that detects the wheel speed of each wheel T, and one wheel speed sensor 30 is provided for each wheel T. Each wheel speed sensor 30 is connected to the control device 20 as described above, whereby the control device 20 can acquire all wheel speeds of the four wheels (four wheels) T.

  As shown in FIG. 2, the vehicular brake fluid pressure control device 100 includes a master cylinder M that generates brake fluid pressure corresponding to the pedaling force applied by the driver to the brake pedal P, wheel brakes FL, RR, RL, and FR. It is arranged between. The two output ports M1 and M2 of the master cylinder M are connected to the inlet port 121 of the pump body 10a which is the base body, and the outlet port 122 of the pump body 10a is connected to each wheel brake FL, RR, RL and FR. Yes. In normal times, an oil passage is formed from the inlet port 121 to the outlet port 122 in the vehicle brake fluid pressure control device 100 so that the pedal force of the brake pedal P is applied to each wheel brake FL, RR, RL, It is transmitted to the FR.

  The vehicle brake hydraulic pressure control device 100 is provided with four inlet valves 1, four outlet valves 2, and four check valves 1a corresponding to the respective wheel brakes FL, RR, RL, FR. In addition, two reservoirs 3, two pumps 4, two dampers 5, and two orifices 5a are provided corresponding to the output hydraulic pressure paths 81 and 82 corresponding to the output ports M1 and M2, respectively. An electric motor 6 for driving is provided.

  The inlet valve 1 is a normally open solenoid valve disposed between each wheel brake FL, RR, RL, FR and the master cylinder M. The inlet valve 1 is normally open to allow the brake hydraulic pressure to be transmitted from the master cylinder M to the wheel brakes FL, RR, RL, FR. In addition, the inlet valve 1 is blocked by the control device 20 when the wheel T is about to be locked, thereby cutting off the hydraulic pressure transmitted from the brake pedal P to each wheel brake FL, RR, RL, FR.

  The outlet valve 2 is a normally closed electromagnetic valve disposed between each wheel brake FL, RR, RL, FR and each reservoir 3. Although the outlet valve 2 is normally closed, the brake fluid pressure applied to each wheel brake FL, RR, RL, FR is changed by being released by the control device 20 when the wheel T is about to be locked. Relief to reservoir 3

  The check valve 1a is connected to each inlet valve 1 in parallel. This check valve 1a is a valve that allows only the flow of brake fluid from each wheel brake FL, RR, RL, FR side to the master cylinder M side, and an inlet valve when the input from the brake pedal P is released. Even when 1 is closed, inflow of brake fluid from each wheel brake FL, RR, RL, FR side to the master cylinder M side is allowed.

The reservoir 3 has a function of absorbing brake fluid that is released when each outlet valve 2 is opened.
The pump 4 has a function of sucking the brake fluid absorbed in the reservoir 3 and returning the brake fluid to the master cylinder M via the damper 5 and the orifice 5a. As a result, the pressure state of each of the output hydraulic pressure paths 81 and 82 reduced by the absorption of the brake hydraulic pressure by the reservoir 3 is recovered.

FIG. 3 is a block configuration diagram of a main part of the vehicle brake hydraulic pressure control apparatus 100 according to the embodiment, and FIG. 4 is a block configuration diagram illustrating details of the lateral acceleration estimation unit.
As shown in FIG. 3, the control device 20 opens and closes each inlet valve 1 and outlet valve 2 (see FIG. 2) in the hydraulic unit 10 based on the rotational speed of the wheel T detected by each wheel speed sensor 30. To control the operation of each wheel brake FL, RR, RL, FR.
The control device 20 includes a lateral acceleration estimation unit 21 and a brake control unit 24 as functional units. The lateral acceleration estimation unit 21 includes a map storage unit 21A, and the brake control unit 24 includes a target hydraulic pressure setting unit 25 and a valve drive unit 26.

  The lateral acceleration estimation unit 21 inputs the wheel speeds of the four wheels from the wheel speed sensor 30, and calculates the estimated lateral acceleration of the vehicle CR. As shown in FIG. 4, the lateral acceleration estimation unit 21 includes, as further detailed functional units, a wheel speed calculation unit 21a, a provisional lateral acceleration calculation unit 21b, a wheel speed difference calculation unit 21c, an estimated vehicle body speed calculation unit 21d, and an estimated wheel. A speed difference acquisition unit 21e and an estimated lateral acceleration calculation unit 21f are provided.

The wheel speed calculation unit 21a multiplies the radius of the wheel T on the basis of the rotation speeds ω _RL , ω _RR , ω _FL , and ω _FR of the wheels T output from the wheel speed sensors 30 of the four wheels T, respectively. _RL , _VRR , _VFL , and _VFR are calculated. Of these, the calculated wheel speeds V _RL and V _RR on the rear wheel side are output to the provisional lateral acceleration calculation unit 21b. The wheel speeds V _RL , V _RR , V _FL , and V _FR of the four wheels T are output to the wheel speed difference calculation unit 21 c and the estimated vehicle body speed calculation unit 21 d.

The provisional lateral acceleration calculation unit 21b calculates the provisional lateral acceleration Gy ′ (n) from the wheel speeds V _RL and V _RR by the same method as before. For example, the temporary lateral acceleration Gy ′ (n) is expressed by the following equation: Gy ′ (n) = (V _RL −V _RR ) × (V _RL + V _RR ) / 2 × TR (1)
Calculate according to Here, TR is the rear wheel tread. In the present specification, (n) following a variable such as Gy ′ indicates the current calculation result, and (n−1) indicates the previous calculation result.

The wheel speed difference calculation unit 21c calculates the wheel speed difference between the front and rear wheels for each of the left side and the right side of the vehicle CR. The wheel speed difference ΔLV between the left and right wheels is expressed by the following equation: ΔLV = V _FL −V _RL (2)
Calculate according to Further, the wheel speed difference ΔRV between the right and left front wheels is expressed by the following equation: ΔRV = V _FR −V _RR (3)
Calculate according to

The estimated vehicle body speed calculation unit 21d calculates an estimated vehicle body speed of the vehicle. The estimation method may be performed by a conventionally known method and is not particularly limited. As an example, the wheel speeds _V RL of each wheel T calculated by the wheel speed calculation unit _21a, V _RR, V _FL, enter the _{V FR,} the average from the wheel speeds _{V RL, V RR, V FL} , V FR A value is calculated and this is set as the vehicle body speed V _C.

Estimating the wheel speed difference acquiring unit 21e inputs the vehicle speed V _C calculated by the estimated vehicle speed calculating section 21d, the estimated wheel speed difference ΔV in the range of likely potential for this vehicle speed V _C, that is, turning The wheel speed difference between the front wheel and the rear wheel that does not slip in is acquired. The estimated wheel speed difference ΔV is acquired with reference to a map stored in the map storage unit 21A. The acquired estimated wheel speed difference ΔV is output to the lateral acceleration calculation unit 21f.

Here, the map stored in the map storage unit 21A is, for example, as shown in FIG. As shown in FIG. 5, the map stored in the map storage unit 21A shows the relationship between the vehicle body speed and the wheel speed difference when the vehicle body speed is increased with the steering (not shown) of the vehicle CR turned to the maximum at the beginning. The hatched portion in the figure indicates the wheel speed difference ΔV that may be possible during turning of the vehicle CR. That is, when the wheel speed difference is at the point indicated by the hatched line in the drawing, for example, at the point indicated by the symbol A, the wheel speed difference is the wheel speed difference that is normally possible when the vehicle CR is turning and the wheel T is on the road surface. This corresponds to the state of gripping. Further, when the wheel speed difference value is at the point indicated by the symbol B, for example, when the wheel speed difference value is at the point indicated by the symbol B, the wheel speed difference slips when the vehicle CR turns during the turn. It corresponds to the state.
Referring to FIG. 5 in more detail, when the vehicle body speed V is small, the wheel speed difference ΔV (absolute value) is large (the wheel speed difference between the front wheels and the rear wheels is large) in the range up to the vehicle body speed V1. On the other hand, as the vehicle body speed V increases from the vehicle body speed V1, the wheel speed difference ΔV (absolute value) decreases. This is because when the vehicle body speed V gradually increases with the steering wheel turned to the maximum, the steering wheel is turned to the maximum (wheel speed difference) before the wheel T exceeds the slip limit (vehicle speed V1). (The state where ΔV is large) can be maintained, but after exceeding the limit of slipping of the wheel T, the grip is maintained by gradually returning the steering wheel (the turning radius is increased). This is because the speed difference ΔV (absolute value) decreases as the vehicle body speed increases.

  The estimated lateral acceleration calculation unit 21f inputs each data from the temporary lateral acceleration calculation unit 21b, the wheel speed difference calculation unit 21c, and the estimated wheel speed difference acquisition unit 21e, and calculates the estimated lateral acceleration based on the data. Specifically, it is determined whether or not both of the wheel speed differences ΔLV and ΔRV calculated by the wheel speed difference calculation unit 21c are within the range of the estimated wheel speed difference ΔV acquired by the estimated wheel speed difference acquisition unit 21e. When both are within the range, the provisional lateral acceleration Gy ′ (n) calculated by the provisional lateral acceleration calculation unit 21b is set as the estimated lateral acceleration Gy (n) of the vehicle CR. Further, when any one of the calculated wheel speed differences ΔLV and ΔRV does not fall within the range of the acquired estimated wheel speed difference ΔV, the calculated temporary lateral acceleration Gy ′ (n) is corrected in the decreasing direction. And set as the estimated lateral acceleration Gy (n) of the vehicle CR.

In the present embodiment, as a method of correcting the calculated temporary lateral acceleration Gy ′ (n) in the decreasing direction, the temporary lateral acceleration Gy ′ (n) is set to the previous temporary lateral acceleration Gy ′ (n−1), A method of setting this as the estimated lateral acceleration Gy (n) of this time is employed.
Gy (n) = Gy ′ (n−1) (4)
This is because the calculated wheel speed difference ΔLV, ΔRV is within the range of the estimated wheel speed difference ΔV acquired by the estimated wheel speed difference acquisition unit 21e at the time of calculating the previous temporary lateral acceleration Gy ′ (n−1). This is because the estimated lateral acceleration can be calculated relatively accurately.
As a method of correcting the temporary lateral acceleration Gy ′ (n) in the decreasing direction, an estimated lateral acceleration Gy (n) of the vehicle CR is obtained by subtracting a predetermined value from the previous temporary lateral acceleration Gy ′ (n−1). Can also be set.
Gy (n) = Gy ′ (n−1) −predetermined value (5)
The method of correcting in this way is, for example, a case where the wheel speed of one wheel T out of the four wheels T is calculated to be different from the wheel speed of the other wheels T during straight running on a wet road surface (1 It can be applied to a situation where only the wheel slips. Even in this case, the estimated lateral acceleration can be calculated relatively accurately. Note that the estimated lateral acceleration calculation unit 21f may be configured to select and use the formula (4) and the formula (5) according to the traveling state of the vehicle CR and the like.

  The estimated lateral acceleration Gy (n) calculated by the estimated lateral acceleration calculation unit 21f is output to the target hydraulic pressure setting unit 25 of the brake control unit 24.

The target hydraulic pressure setting unit 25 determines each wheel brake FL, RR, RL, FR based on the estimated lateral acceleration Gy (n) calculated by the lateral acceleration estimating unit 21 and the rotational speed ω of the wheel T detected by the wheel speed sensor 30. Set the target hydraulic pressure. This setting method may be performed by a conventionally known method and is not particularly limited. For example, the vehicle body speed calculated by the estimated vehicle speed calculating unit 21d _{V C} and the wheel speed _{V RL, V RR, V FL} , calculates the slip ratio from _{V FR.} Further, based on the estimated lateral acceleration Gy (n) and the front and rear vehicle body acceleration, a combined acceleration is calculated, and a road surface friction coefficient is estimated from the combined acceleration. Then, based on the friction coefficient, the slip ratio, and the current hydraulic pressure of the wheel cylinder H, the target hydraulic pressure of each wheel brake FL, RR, RL, FR can be set.

  The valve drive unit 26 is configured by a conventionally known method so that the hydraulic pressure of the wheel cylinder H of each wheel brake FL, RR, RL, FR matches the target hydraulic pressure set by the target hydraulic pressure setting unit 25. A pulse signal for operating each inlet valve 1 and outlet valve 2 in 10 is output to the hydraulic unit 10. For example, as the pulse signal has a larger deviation between the current hydraulic pressure of the wheel cylinder H and the target hydraulic pressure, more pulses are output. Note that the current hydraulic pressure of the wheel cylinder H may be measured by a sensor or may be estimated by calculation.

  The operation of the vehicular brake hydraulic pressure control device 100 will be described with reference to FIG. FIG. 6 is a flowchart showing processing of the lateral acceleration estimation unit 21.

As shown in FIG. 6, the calculation process when the vehicle CR starts turning is as follows. First, the temporary lateral acceleration Gy ′ (n) is calculated from the wheel speeds V _RL and V _{RR in} the same manner as before (S1). ), wheel speeds _{V RL, V RR, V FL} , from _{V FR,} the wheel speed difference between the front and rear wheels for each of the left and right DerutaLV, it calculates the ΔRV (S2). Further, the vehicle body speed V _C of the vehicle CR is calculated from the wheel speeds V _RL , V _RR , V _FL , and V _FR (S 3), and the estimated wheel speed difference ΔV is calculated based on the calculated vehicle body speed V _C. Is acquired from the map (S4). Then, it is determined whether or not the wheel speed differences ΔLV and ΔRV calculated in S2 fall within the estimated wheel speed difference ΔV acquired in S4 (S5). If they fall within (Yes), the provisional lateral acceleration Gy ′ (n ) As the estimated lateral acceleration Gy (n) (S6). If the wheel speed difference ΔLV, ΔRV does not fall within the estimated wheel speed difference ΔV acquired in S4 (No) in S5, the previous temporary lateral acceleration Gy ′ (n−1) is calculated as the current estimated lateral acceleration Gy. Calculate as (n) (S7). As a result, even if the vehicle CR slips during turning and the estimated lateral acceleration can be estimated to be large, the lateral acceleration is always calculated in the direction in which the estimated lateral acceleration value decreases, and the estimated lateral acceleration is calculated. An estimation error that the acceleration Gy (n) is calculated to a large value can be prevented.

  As described above, according to the vehicle brake hydraulic pressure control device 100 of the present embodiment, for example, some wheels T are likely to lock during turning, and the calculated wheel speed differences ΔLV and ΔRV are calculated. If both do not fall within the range of the acquired estimated wheel speed difference ΔV, the previous estimated lateral acceleration Gy (n) is assumed to be the previous estimated lateral acceleration Gy ′ (n−1). Is corrected in the decreasing direction, so that the deviation of the estimated lateral acceleration Gy (n) due to the slip of the wheel T can be eliminated. Therefore, even in the antilock control using the estimated lateral acceleration Gy (n), it is possible to accurately predict the vehicle situation and perform appropriate control.

As mentioned above, although embodiment of this invention was described, this invention is not limited to above-described embodiment, It can implement by changing suitably.
For example, in the above-described embodiment, the estimated wheel speed difference is estimated based on one map. However, the present invention is not limited to this, and a map is separately set when the driving wheel side is large and when the driven wheel side is large. The estimated wheel speed difference acquisition unit may be configured to select the map based on the wheel speed difference and acquire the estimated wheel speed difference. In this way, the estimated lateral acceleration can be calculated by more accurately predicting the vehicle situation, and more appropriate brake control and the like can be performed based on this.
Further, for example, the lateral acceleration calculation method (apparatus) of the present invention can be applied not only to anti-lock control but also to other control using lateral acceleration. For example, depending on the estimated lateral acceleration, the braking force of some wheel brakes and engine output are controlled as appropriate to control the posture of the vehicle, the tilt of the vehicle body, the strength of the suspension, etc. May be.
Moreover, although the map was used to acquire the estimated wheel speed difference, it can also be obtained by a function.

It is a lineblock diagram showing the brake system of vehicles provided with the brake fluid pressure control device for vehicles concerning one embodiment of the present invention. It is a hydraulic circuit diagram of a hydraulic unit. 1 is a block configuration diagram of a vehicle brake hydraulic pressure control device according to an embodiment. FIG. It is a block block diagram which shows the detail of a lateral acceleration estimation part. It is a map which shows the relationship between a vehicle body speed and a wheel speed difference. It is a flowchart which shows the process of a lateral acceleration estimation part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Hydraulic unit 20 Control apparatus 21 Lateral acceleration estimation part 21A Map memory | storage part 21a Wheel speed calculation part 21b Temporary lateral acceleration calculation part 21c Wheel speed difference calculation part 21d Estimated vehicle body speed calculation part 21e Estimated wheel speed difference acquisition part 21f Estimated lateral acceleration Calculation unit 24 Brake control unit 25 Target hydraulic pressure setting unit 26 Valve drive unit 30 Wheel speed sensor 81 Output hydraulic pressure path 100 Brake hydraulic pressure control device for vehicle

Claims (5)

A method for calculating an estimated lateral acceleration of a vehicle based on left and right wheel speeds,
The process of calculating the temporary lateral acceleration of the vehicle from the wheel speed,
Calculating the wheel speed difference between the front and rear wheels for each of the left and right sides of the vehicle, and calculating the estimated vehicle speed of the vehicle;
A process of obtaining an estimated wheel speed difference within a possible range from the calculated estimated vehicle speed,
A process of correcting the calculated temporary lateral acceleration in a decreasing direction when the calculated wheel speed difference does not fall within the range of the acquired estimated wheel speed difference. . A temporary lateral acceleration calculation unit that calculates the temporary lateral acceleration of the vehicle from the wheel speed;
A wheel speed difference calculator for calculating the wheel speed difference between the front and rear wheels for each of the left and right sides of the vehicle;
An estimated vehicle speed calculator for calculating an estimated vehicle speed of the vehicle;
An estimated wheel speed difference acquisition unit that acquires an estimated wheel speed difference within a possible range based on the calculated estimated vehicle body speed;
When the calculated wheel speed difference falls within the range of the acquired estimated wheel speed difference, the calculated temporary lateral acceleration is set as the estimated lateral acceleration of the vehicle, and the calculated wheel speed difference is the acquired estimated wheel speed. A lateral acceleration calculation device, comprising: a lateral acceleration calculation unit that corrects the calculated temporary lateral acceleration in a decreasing direction to obtain an estimated lateral acceleration of the vehicle when it does not fall within the difference range.   3. The lateral acceleration calculation unit according to claim 2, wherein when the wheel speed difference does not fall within the range of the estimated wheel speed difference, the previous temporary lateral acceleration is set as the current estimated lateral acceleration of the vehicle. Lateral acceleration calculation device.   The estimated wheel speed difference acquisition unit acquires the estimated wheel speed difference based on a map or a function indicating a predetermined relationship between the vehicle body speed and the wheel speed difference. The lateral acceleration calculation device described.   The map is individually set for the case where the wheel speed difference calculated by the wheel speed difference calculation unit is large on the driving wheel side and the case where the driven wheel side is large, and the estimated wheel speed difference acquisition unit includes the wheel speed difference The lateral acceleration calculation apparatus according to claim 4, wherein the map is selected based on to obtain an estimated wheel speed difference.

Images