Motorcycle Roll Angle Estimation via Variable Correction Coefficient
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Solution Overview
Problem
Existing methods for estimating the roll angle of a vehicle body, such as in motorcycles, face errors in unsteady states like drift or jumping due to the lack of established physical relationships, leading to accumulation of error components in roll angle estimation.
Innovation Solution
A body posture detection device that uses a speed sensor, acceleration sensors, angular velocity sensors, a pitch angle estimation unit, roll angular velocity estimation unit, state determination unit, correction value calculation unit, and roll angle estimation value calculation unit to calculate a correction value with a variable correction coefficient based on the vehicle's traveling state, reducing errors by adjusting the estimation in unsteady states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a fixed correction coefficient is used for roll angle estimation, then the device structure is simple, but the measurement precision deteriorates in unsteady states
Solution Approach 1:
The patent applies the dynamics principle by transitioning from a fixed correction coefficient to a variable correction coefficient that dynamically adapts to different vehicle states. The system determines whether the vehicle is in a steady state or unsteady state (such as drift or jumping conditions) and adjusts the correction coefficient accordingly. This dynamic adjustment mechanism resolves the contradiction by maintaining simple structure during normal operation while improving measurement precision during transient unsteady states through state-dependent coefficient selection.
Solution Approach 2:
The patent implements parameter changes by modifying the correction coefficient parameter based on vehicle state. Instead of using a constant correction coefficient, the system changes the coefficient value according to whether the vehicle is in steady state or unsteady state. This parameter adaptation allows the system to maintain high measurement precision across different operating conditions without requiring a completely complex system architecture.
2Measurement precision
If correction values are continuously applied in unsteady states, then measurement precision may improve, but error accumulation increases
Solution Approach 1:
The patent applies the taking out principle by selectively extracting or removing the correction value application in specific unsteady states where it would be harmful. When the system detects that the vehicle is in certain unsteady states (such as drift or jumping conditions), it determines that applying correction values would lead to error accumulation and instead suspends or reduces correction value application. This selective extraction of the correction mechanism in problematic states resolves the contradiction between improving precision and preventing error accumulation.
Solution Approach 2:
The system employs feedback by continuously monitoring vehicle state parameters and adjusting correction value application based on this feedback. The state determination unit provides feedback about whether the vehicle is in steady state or unsteady state, and this feedback controls whether correction values are applied. This closed-loop feedback mechanism ensures that correction values are applied only when beneficial, preventing error accumulation while maintaining measurement precision.
Data Source
AI summary
A body posture detection device comprises: a correction value calculation unit that sequentially calculates a correction value for estimating a roll angle of a vehicle body on the basis of a variable correction coefficient set according to a determination of a state determination unit and detection values of a speed sensor and a detection unit; and a roll angle estimation value calculation unit that calculates an estimation value of a current roll angle of the vehicle body by integrating a value obtained by correcting an estimation value of a roll angular velocity on the basis of the correction value. The correction value calculation unit sets the variable correction coefficient so as to reduce the correction value when the parameter exceeds a threshold.