JP2007210463A - Vehicle state variable detecting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle state variable detecting device capable of accurately detecting vehicle state variables. <P>SOLUTION: A torque detecting device 11 is provided as a forward and backward force detecting means for detecting forward and backward force to be applied to each of wheels of a vehicle and an upward and downward force detecting device for detecting upward and downward force to be applied to each of the wheels of the vehicle. An ECU as a vehicle state variable computing means computes car speed Vb, travelling resistance Rb, road surface inclination angle θr, grounding load component Fza and car body mass Mb as the vehicle state variables based on driving and braking force Fx as the forward and backward force and the tire grounding load Fz as the upward and downward force. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle state quantity detection device that detects each state quantity in a vehicle using a force acting on a wheel mounted on the vehicle.

  When controlling the behavior of the vehicle, the engine output, the reduction ratio by the transmission, the braking force by the brake device based on the detection results of various sensors mounted on the vehicle, such as the vehicle speed sensor, the G sensor, and the wheel speed sensor. Etc. are controlled. For example, conventionally, the vehicle body speed is calculated by estimating the wheel radius from the rotational speed of the wheel detected by the wheel speed sensor.

  In addition, regarding the wheel, a detector for detecting the tire acting force is provided, and the detected value of the tire acting force by the detector is abnormal based on at least one of the detected value by the detector and its temporal change tendency. There exists what was described in following patent document 1 as what determines whether or not.

JP 2003-104139 A

  However, in the driving state of the vehicle, in addition to the physical quantities detected by these various sensors, the behavior of the vehicle changes depending on the physical quantities such as the vehicle running resistance and the wheel radius. Have not been able to do.

  The present invention is for solving such a problem, and an object of the present invention is to provide a vehicle state quantity detection device capable of detecting a vehicle state quantity with high accuracy.

  In order to solve the above-described problems and achieve the object, a vehicle state quantity detection device according to the present invention acts on front / rear force detecting means for detecting front / rear force acting on each wheel of the vehicle and on each wheel of the vehicle. A vertical force detection means for detecting vertical force; and a vehicle state quantity calculation means for calculating a vehicle state quantity based on the detection results of the longitudinal force detection means and the vertical force detection means. It is.

  In the vehicle state quantity detection device of the present invention, the longitudinal force detection means and the vertical force detection means are a first disk member fixed to the axle side, and fixed to the wheel side and coaxial with the first disk member. A second disk member supported in a relatively rotatable manner, a load detection means for detecting a forward rotation load and a reverse rotation load in the circumferential direction of the second disk member relative to the first disk member, and the load detection means Torque calculation output means for calculating a longitudinal force and a vertical force acting on the wheel based on a forward rotation load and a reverse rotation load.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means calculates based on the wheel angular velocity calculated based on the wheel speed detected by the wheel speed sensor and the longitudinal force detected by the longitudinal force detection means. The vehicle body speed is calculated from the slip ratio and the wheel dynamic load radius calculated based on the vertical force detected by the vertical force detecting means.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means subtracts the vehicle body longitudinal force calculated based on the vertical force detected by the vertical force detection means from the longitudinal force detected by the longitudinal force detection means. The running resistance is then obtained.

  In the vehicle state quantity detection device according to the present invention, the vehicle state quantity calculation means may calculate a road surface inclination angle from the longitudinal force detected by the longitudinal force detection means, the vertical force detected by the vertical force detection means, and the running resistance. It is characterized by computing.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means calculates air resistance from the longitudinal force detected by the longitudinal force detection means, the vertical force detected by the vertical force detection means, and the vehicle body speed. It is characterized by computing.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means includes an air pressure detected by a wheel air pressure sensor, a longitudinal force detected by the longitudinal force detection means, and a vertical force detected by the vertical force detection means. It is characterized by calculating wheel rolling resistance.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means calculates air resistance from the longitudinal force detected by the longitudinal force detection means, the vertical force detected by the vertical force detection means, and the vehicle body speed. Calculating the wheel rolling resistance from the air pressure detected by the wheel air pressure sensor, the longitudinal force detected by the longitudinal force detecting means, and the vertical force detected by the vertical force detecting means, and calculating the air resistance from the running resistance. The road surface resistance is obtained by subtracting the resistance and the wheel rolling resistance.

  In the vehicle state quantity detection device according to the present invention, the vehicle state quantity calculation means includes aerodynamic grounding based on the longitudinal force detected by the longitudinal force detection means, the vertical force detected by the vertical force detection means, and the vehicle body speed. It is characterized by calculating a load component.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means subtracts the vehicle body vertical force calculated based on the longitudinal force detected by the longitudinal force detection means from the vertical force detected by the vertical force detection means. Thus, the ground load component due to aerodynamics is obtained.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means includes the longitudinal force detected by the longitudinal force detection means, the vertical force detected by the vertical force detection means, the vehicle body speed, and the road surface inclination angle. And calculating the vehicle body mass according to the longitudinal force component.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means calculates a vehicle body mass corresponding to the vertical force component by adding a ground load component due to aerodynamics to the vertical force detected by the vertical force detection means, The vehicle body mass is corrected based on a vehicle body mass corresponding to the longitudinal force component, a vehicle body mass corresponding to the vertical force component, and a weighting coefficient corresponding to the vehicle longitudinal force.

  In the vehicle state quantity detection device of the present invention, the vehicle state quantity calculation means includes the longitudinal force detected by the longitudinal force detection means, the vertical force detected by the vertical force detection means, the vehicle body speed, and the road surface inclination angle. To calculate the vehicle body mass according to the vertical force component by adding the ground load component due to the aerodynamic force to the vertical force detected by the vertical force detection means. An abnormality determining means for determining an abnormality based on a deviation between a vehicle body mass corresponding to the component and a vehicle body mass corresponding to the vertical force component is provided.

  In the vehicle state quantity detection device of the present invention, there is provided an abnormality determining means for determining an abnormality based on a deviation between the road surface inclination angle and an actual road surface inclination angle calculated based on the longitudinal acceleration detected by the longitudinal acceleration sensor. It is characterized by.

  According to the vehicle state quantity detecting device of the present invention, the longitudinal force detecting means for detecting the longitudinal force acting on each wheel of the vehicle, the vertical force detecting means for detecting the vertical force acting on each wheel of the vehicle, and the longitudinal force Since the vehicle state quantity calculation means for calculating the vehicle state quantity based on the detection results of the detection means and the vertical force detection means is provided, the vehicle state quantity is calculated based on the longitudinal force and the vertical force actually acting on the wheels. Therefore, an appropriate state quantity corresponding to the driving state of the vehicle is detected, and the detection accuracy of the vehicle state quantity can be improved.

  Embodiments of a vehicle state quantity detection device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  FIG. 1 is a schematic diagram showing a detection method in a vehicle state quantity detection device according to an embodiment of the present invention, FIG. 2 is a block diagram showing the vehicle state quantity detection device of this embodiment, and FIG. FIG. 4 is a graph showing a setting method of a weighting coefficient when calculating the vehicle body mass, and FIG. 5 is a torque detection in the vehicle state quantity detection device of this embodiment. Sectional drawing of the axle part showing an apparatus and FIG. 6 are VI-VI sectional views of FIG.

  As shown in FIG. 1, the vehicle state quantity detection device according to the first embodiment detects the longitudinal force and the vertical force acting on the vehicle wheel 12 by a torque detection device 11 that constitutes the longitudinal force detection means and the vertical force detection means. An electronic control unit (ECU) 13 that constitutes the vehicle state quantity calculation means, based on the longitudinal force and vertical force acting on the detected wheel, the vehicle body speed, the vehicle body speed, road surface inclination angle, running resistance, which will be described later, It calculates the vehicle body mass.

  First, the torque detection device 11 attached to each wheel 12 will be described. In this torque detector 11, as shown in FIGS. 5 and 6, a hub side housing 21 as a first disk member fixed to the axle side and a wheel side housing as a second disk member fixed to the wheel side. 22 is supported on the same axis so as to be relatively rotatable. Four torque transmission portions T1 to T4 are provided between the hub side housing 21 and the wheel side housing 22 at equal intervals in the circumferential direction. A plurality of load sensors S11, S12, S21, S22, S31, S32, S41, and S42 are mounted as load detection means for detecting the forward and reverse loads in the circumferential direction. The ECU 13 serving as torque calculation means is a longitudinal force and a vertical force acting on each wheel 12 based on the forward and reverse loads detected by the load sensors S11, S12, S21, S22, S31, S32, S41, and S42. Is calculated.

  That is, the hub-side housing 21 has four mounting flanges 21a on the outer peripheral portion, and each mounting flange 21a is fastened to an axle hub 25 that is rotatably supported by the ball bearing 24 of the axle housing 23 with respect to the vehicle body. By being fastened with bolts, they are connected together. On the other hand, the wheel-side housing 22 has four mounting flanges 22 a on the outer peripheral portion, and a wheel on which a tire (not shown) is mounted is fastened by hub bolts 26 to each mounting flange 22 a.

  The hub-side housing 21 is formed with four protrusions 21c at equal intervals in the circumferential direction on the outer periphery of the ring-shaped boss 21b. On the other hand, in the wheel side housing 22, four storage portions 22b are formed in the inner peripheral portion at equal intervals in the circumferential direction. Each protrusion 21c of the hub side housing 21 engages with each storage portion 22b of the wheel side housing 22, and a ball 27 is provided between each protrusion 21c and the left and right holding walls 22c, 22d in each storage portion 22b. Intervenes with almost no gap. In this case, a guide groove 21d having a V-shaped cross section is formed along the circumferential direction in the hub-side housing 21 facing the ball 27 in the axial direction of the axle hub 25. Accordingly, each ball 27 forms a thrust ball bearing between the hub side housing 21 and the wheel side housing 22.

  The load sensors S11, S12, S21, S22, S31, S32, S41, and S42 described above are mounted on the contact wall surfaces of the protrusions 21c of the hub-side housing 21 with the balls 27. The load sensors S11, S12, S21, S22, S31, S32, S41, and S42 are the positive and negative rotational loads in the circumferential direction input from the balls 27 when the hub side housing 21 and the wheel side housing 22 rotate. The load is detected and output as an electrical signal. For example, a piezoelectric element or a strain gauge can be applied.

  Further, a stepped sleeve 28 is screwed to the inner peripheral portion of the wheel side housing 22 so as to be adjustable in position in the axial direction, and a plurality of balls 29 are interposed between the hub side housing 21 and the hub side housing 21 at equal intervals in the circumferential direction. The stepped sleeve 28 is fixedly held on the wheel-side housing 22 by a lock nut 30. Accordingly, each ball 29 constitutes an angular ball bearing between the hub-side housing 21 and the stepped sleeve 28, and an annular raceway surface having an arc shape in the boss portion 21 b of the hub-side housing 21, and a stepped sleeve The two annular raceway surfaces forming a flat surface at 28 are in contact with each other so as to freely roll.

  Next, a specific configuration of the ECU 13 that calculates the vehicle state quantity based on the forward rotation side load and the reverse rotation side load detected by the torque detection device 11 will be described. As shown in FIGS. 1 and 2, the ECU 13 has a sensor output calculation unit 31, a longitudinal motion state amount calculation unit 32, and an abnormality determination unit 33. The sensor output calculation unit 31 includes forward rotation side loads v11, v21, v31, v41 and reverse rotation side loads detected by the load sensors S11, S12, S21, S22, S31, S32, S41, and S42 of the torque detection device 11. v12, v22, v32, and v42 are input, and the wheel speed Vt detected by the wheel speed sensor 34, the vehicle body acceleration Gbx detected by the longitudinal acceleration sensor 35, and the tire air pressure Pa detected by the tire air pressure sensor 36 are input.

The sensor output calculation unit 31 includes forward rotation side loads v11, v21, v31, v41 and reverse rotation side loads v12, v22, detected by the load sensors S11, S12, S21, S22, S31, S32, S41, S42. Based on v32 and v42, the following formula 1 is used to calculate the braking / driving force Fxn as the longitudinal force and the tire ground contact load Fzn as the vertical force, and the sum of the braking / driving forces Fx1 to Fx4 of the four wheels is the vehicle braking force. The driving force Fxt is defined, and the sum of the tire ground contact loads Fz1 to Fz4 of the four wheels is defined as the tire ground contact load Fzt of the vehicle. The sensor output calculation unit 31 calculates the wheel angular velocity θwn from the wheel speed Vt detected by the wheel speed sensor 34.

  The front-rear motion state quantity calculator 32 is a vehicle speed as a vehicle state quantity based on the braking / driving force Fxn, tire ground load Fzn, wheel angular velocity θwn, vehicle acceleration Gbx, and tire air pressure Pam input from the sensor output calculator 31. The road surface inclination angle, running resistance, vehicle body mass, etc. are calculated. Here, n and m specify four wheels, and n and m = 1 to 4. Then, the abnormality determination unit 33 determines the abnormality of the load sensors S11, S12, S21, S22, S31, S32, S41, and S42 based on the vehicle body state amount calculated by the longitudinal motion state amount calculation unit 32.

  Here, a method of calculating the vehicle body state quantity by the longitudinal motion state quantity calculating unit 32 will be specifically described.

[Body speed]
The vehicle body speed Vbn can be calculated from the wheel angular speed θwn, the wheel dynamic load radius rt, and the slip ratio s, and is defined as the following Expression 2.

また、スリップ率ｓも、制駆動力Ｆｘｎとタイヤ接地荷重Ｆｚｎとタイヤ空気圧Ｐａｍの状態からの関連性を考慮して、関数式及び下記表２に示すマップから定義して補正する。

The wheel dynamic load radius rt is defined and corrected from a functional equation and a map shown in Table 1 below in consideration of the relationship from the state of braking / driving force Fxn, tire ground contact load Fzn, and tire air pressure Pam.

In addition, the slip ratio s is also defined and corrected from the functional equation and the map shown in Table 2 below in consideration of the relationship from the state of the braking / driving force Fxn, the tire contact load Fzn, and the tire pressure Pam.

Therefore, it can be defined as the following Equation 3. In this case, as shown in FIG. 3, the wheel and road surface friction coefficient μ increases as the slip ratio s increases. However, when the slip ratio s enters an area where the slip ratio s increases from a predetermined value, the wheel and road surface friction coefficient μ decreases. In order to be constant after the decrease, the effective wheel is determined when the slip ratio s and the wheel angular velocity θwn are in the following ranges.

When the vehicle body speeds Vb _{1 to} Vb ₄ and the effective wheels are determined for each wheel in this way, the vehicle body speed Vba can be calculated by the following mathematical formula 4. In addition, in the following Expression 4, the sum of the vehicle body speeds Vb _{1 to} Vb ₄ for each wheel is divided by the effective wheel number n (= 4) to obtain the vehicle body speed Vbn. If the effective wheel number n decreases, The sum also decreases.

従って、走行抵抗Ｒｂは、制駆動力Ｆｘｔから車体前後力Ｆｂｘを減算することで、下記数式６のように求めることができる。そして、車体前後力Ｆｂｘは、制駆動力Ｆｘｔと重力ｇと車体加速度Ｇｂｘに基づいて演算した路面傾斜角θｒｇと車体加速度（車体速度Ｖｂａの微分値）に基づいて演算される。

[Running resistance]
The vehicle longitudinal force Fbx can be obtained by subtracting the running resistance Rb from the braking / driving force Fxt of the vehicle as shown in Equation 5 below.

Therefore, the running resistance Rb can be obtained by subtracting the vehicle body longitudinal force Fbx from the braking / driving force Fxt as shown in Equation 6 below. The vehicle longitudinal force Fbx is calculated based on the road surface inclination angle θrg calculated based on the braking / driving force Fxt, gravity g, and vehicle acceleration Gbx and the vehicle acceleration (differential value of the vehicle speed Vba).

[Road slope angle]
The road surface inclination angle θrf can be calculated from the braking / driving force Fxt of the vehicle, the tire ground contact load Fzt, the running resistance Rb, and the vehicle body acceleration (differential value of the vehicle body speed Vba) using the following Equation 7.

[Air resistance]
The air resistance Ra can be calculated from the braking / driving force Fxt of the vehicle, the tire ground contact load Fzt, and the vehicle body speed Vba using the following formula 8.

The air resistance Ra is defined and corrected from a functional equation and a map shown in Table 3 below in consideration of the relationship from the state of the braking / driving force Fxn, the tire ground contact load Fzn, and the vehicle body speed Vba.

[Wheel rolling resistance]
The wheel rolling resistance Rt can be calculated from the tire air pressure Pa, the braking / driving force Fxt, and the tire ground contact load Fzt using the following formula 9.

The wheel rolling resistance Rt is defined and corrected from a functional equation and a map shown in Table 4 below in consideration of the relationship from the tire pressure Pam, braking / driving force Fxn, and tire ground contact load Fzn.

[Road resistance]
The road surface resistance Rr can be obtained by subtracting the air resistance Ra and the wheel rolling resistance Rt from the running resistance Rb using the following formula 10.

[Aerodynamic contact load component]
The ground load component Fza due to aerodynamics can be calculated from the braking / driving force Fxt, the tire ground contact load Fzt, and the vehicle body speed Vba using the following Expression 11.

The ground load component Fza is defined and corrected from a functional equation and a map shown in Table 5 below in consideration of the relationship from the states of the braking / driving force Fxn, the tire ground load Fzn, and the vehicle body speed Vba.

The ground load component Fza can be obtained by subtracting the vehicle body vertical force calculated based on the braking / driving force Fxt from the tire ground load Fzt, using the following formula 12.

[Body mass]
The vehicle body mass Mbx can be calculated as a longitudinal force component using the following Equation 13 from the tire ground contact load Fzt, braking / driving force Fxt, vehicle body speed Vba, and road surface inclination angle θrf.

Further, the vehicle body mass Mbz can be calculated as a vertical force component by using the following formula 14 by adding the ground load component Fza due to aerodynamics to the tire ground load Fzt.

  In this case, when the vehicle body speed Vba is lower than a specified value (for example, 6 km / h), the vehicle body mass Mbz can be specified as the vehicle body mass Mbo. Further, when the vehicle body speed Vba is higher than a specified value (for example, 30 km / h), a value obtained by subtracting the vehicle body mass Mbo from the vehicle body mass Mbz can be specified as the above-described ground load component Fza.

Further, the vehicle body mass MB is corrected based on the vehicle body mass Mbx corresponding to the longitudinal force component, the vehicle body mass Mbz corresponding to the vertical force component, and the weighting coefficients a and b corresponding to the vehicle longitudinal force Fbx. That is, as shown in FIG. 4, the weighting coefficient a corresponding to the vehicle body mass Mbx that increases to 1 as the vehicle body longitudinal force Fbx increases is set, and the vehicle body corresponding to the vertical force component so that a + b = 1. A weighting coefficient b corresponding to the mass Mbz is set. Then, the vehicle body mass Mb is corrected using the following formula 15.

  Next, the abnormality determination method of the load sensors S11, S12, S21, S22, S31, S32, S41, and S42 by the abnormality determination unit 33 will be specifically described.

[Abnormality judgment 1]
Based on the absolute value of the deviation between the vehicle body mass Mbx corresponding to the longitudinal force component and the vehicle body mass Mbz corresponding to the vertical force component, abnormality of the tire ground contact load Fzt and the braking / driving force Fxt is determined. That is, when the absolute value of the deviation between the vehicle body mass Mbx corresponding to the longitudinal force component and the vehicle body mass Mbz corresponding to the vertical force component is larger than a predetermined value as shown in the following equation 16, the tire ground contact load Fzt and It is determined that the braking / driving force Fxt is abnormal, that is, the load sensors S11, S12, S21, S22, S31, S32, S41, and S42 are abnormal.

[Abnormality judgment 2]
Further, as shown in Equation 17 below, the absolute value of the deviation between the vehicle body mass Mbx corresponding to the longitudinal force component and the vehicle body mass Mbz corresponding to the vertical force component is smaller than a preset specified value, and is detected by the longitudinal acceleration sensor 35. When the absolute value of the deviation between the road surface inclination angle θrg calculated based on the vehicle body acceleration Gbx and the road surface inclination angle θrf calculated using Equation 7 is larger than a preset specified value, the road surface inclination angle θrg It is determined that there is an abnormality, that is, the longitudinal acceleration sensor 35 is abnormal.

  Thus, in the vehicle state quantity detection device of the present embodiment, the longitudinal force detection means for detecting the longitudinal force acting on each wheel of the vehicle and the vertical force detection means for detecting the vertical force acting on each wheel of the vehicle. A torque detection device 11 is provided, and an ECU as a vehicle state quantity calculation means is configured so that a vehicle speed Vb and a running resistance Rb as vehicle state quantities are based on the braking / driving force Fx as a longitudinal force and the tire ground contact load Fz as a vertical force. The road surface inclination angle θr, the ground load component Fza, the vehicle body mass Mb, and the like are calculated.

  Accordingly, since the vehicle state quantity is calculated based on the braking / driving force Fx as the longitudinal force actually acting on the wheel 12 and the tire ground contact load Fz as the vertical force, an appropriate state quantity corresponding to the driving state of the vehicle is obtained. Thus, the detection accuracy of the vehicle state quantity can be improved.

  Further, the abnormality determination unit 33 determines whether there is an abnormality in the tire ground contact load Fzt and the braking / driving force Fxt based on the deviation between the vehicle body mass Mbx corresponding to the longitudinal force component and the vehicle body mass Mbz corresponding to the vertical force component, that is, a load sensor. It is determined that S11, S12, S21, S22, S31, S32, S41, and S42 are abnormal. Further, the abnormality determination unit 33 deviates between the road surface inclination angle θrg calculated based on the vehicle body acceleration Gbx detected by the longitudinal acceleration sensor 35 and the road surface inclination angle θrf calculated based on the tire ground contact load Fzt and the braking / driving force Fxt. Is determined to be abnormal, that is, the longitudinal acceleration sensor 35 is abnormal. Therefore, abnormality of various sensors can be determined appropriately according to the vehicle state quantity.

  As a result, by detecting the state quantity of the vehicle with high accuracy, the engine is based on the detected vehicle body speed Vb, travel resistance Rb, road surface inclination angle θr, ground load component Fza, body mass Mb, etc. By controlling the output, the reduction ratio by the transmission, the braking force by the brake device, etc., the behavior of the vehicle can be controlled with high accuracy.

  As described above, the vehicle state quantity detection device according to the present invention calculates the vehicle state quantity based on the longitudinal force and the vertical force acting on each wheel of the vehicle, and can be used for any type of vehicle. Is preferred.

It is the schematic showing the detection method in the vehicle state quantity detection apparatus which concerns on one Example of this invention. It is a block block diagram showing the vehicle state quantity detection apparatus of a present Example. It is a graph showing the setting method of the regulation value at the time of calculating vehicle body speed. It is a graph showing the setting method of the weighting coefficient at the time of calculating vehicle body mass. It is sectional drawing of the axle part showing the torque detection apparatus in the vehicle state quantity detection apparatus of a present Example. It is VI-VI sectional drawing of FIG.

Explanation of symbols

11 Torque detection device 12 Wheel 13 Electronic control unit (ECU, vehicle state quantity calculation means, torque calculation output means)
21 Hub side housing (first disk member)
22 Wheel side housing (second disk member)
T1 to T4 Torque transmission section S11, S12, S21, S22, S31, S32, S41, S42 Load sensor 31 Sensor output calculation section 32 Longitudinal motion state quantity calculation section 33 Abnormality determination section 34 Wheel speed sensor 35 Longitudinal acceleration sensor 36 Tire pressure Sensor

Claims (14)

  Longitudinal force detection means for detecting longitudinal force acting on each wheel of the vehicle, vertical force detection means for detecting vertical force acting on each wheel of the vehicle, detection of the longitudinal force detection means and the vertical force detection means A vehicle state quantity detection device comprising vehicle state quantity calculation means for calculating a vehicle state quantity based on the result.   2. The vehicle state quantity detection device according to claim 1, wherein the longitudinal force detection means and the vertical force detection means are a first disk member fixed to an axle side and the first disk member fixed to the wheel side. A second disk member supported coaxially with the first disk member, load detecting means for detecting a forward rotation load and a reverse rotation load in the circumferential direction of the second disk member with respect to the first disk member, and the load detection means A vehicle state quantity detection device comprising: torque calculation output means for calculating a longitudinal force and a vertical force acting on the wheel based on a forward load and a reverse load detected by the vehicle.   2. The vehicle state quantity detection device according to claim 1, wherein the vehicle state quantity calculation means is based on a wheel angular velocity calculated based on a wheel speed detected by a wheel speed sensor and a longitudinal force detected by the longitudinal force detection means. A vehicle state quantity detecting device that calculates a vehicle body speed from a slip ratio calculated in accordance with the above and a wheel dynamic load radius calculated based on a vertical force detected by the vertical force detecting means.   2. The vehicle state quantity detection device according to claim 1, wherein the vehicle state quantity calculation unit calculates a vehicle front-rear direction calculated based on a vertical force detected by the vertical force detection unit from a front-rear force detected by the front-rear force detection unit. A vehicle state quantity detection device characterized in that a driving resistance is obtained by subtracting a force.   5. The vehicle state quantity detection device according to claim 4, wherein the vehicle state quantity calculation unit includes a longitudinal force detected by the longitudinal force detection unit, a vertical force detected by the vertical force detection unit, and the running resistance. A vehicle state quantity detection device that calculates a road surface inclination angle.   4. The vehicle state quantity detection device according to claim 3, wherein the vehicle state quantity calculation unit includes a longitudinal force detected by the longitudinal force detection unit, a vertical force detected by the vertical force detection unit, and the vehicle body speed. A vehicle state quantity detection device that calculates air resistance.   2. The vehicle state quantity detection device according to claim 1, wherein the vehicle state quantity calculation unit detects an air pressure detected by a wheel air pressure sensor, a longitudinal force detected by the longitudinal force detection unit, and a vertical force detection unit. A vehicle state quantity detection device that calculates a wheel rolling resistance from a vertical force.   5. The vehicle state quantity detection device according to claim 4, wherein the vehicle state quantity calculation means includes a longitudinal force detected by the longitudinal force detection means, a vertical force detected by the vertical force detection means, and the vehicle body speed. While calculating the air resistance, calculating the wheel rolling resistance from the air pressure detected by the wheel air pressure sensor, the longitudinal force detected by the longitudinal force detecting means, and the vertical force detected by the vertical force detecting means, the running resistance Subtracting the air resistance and wheel rolling resistance from the vehicle to obtain road resistance, a vehicle state quantity detection device.   4. The vehicle state quantity detection device according to claim 3, wherein the vehicle state quantity calculation unit includes a longitudinal force detected by the longitudinal force detection unit, a vertical force detected by the vertical force detection unit, and the vehicle body speed. A vehicle state quantity detection device that calculates a ground load component due to aerodynamics.   2. The vehicle state quantity detection device according to claim 1, wherein the vehicle state quantity calculation unit calculates a vehicle body vertical quantity calculated based on a longitudinal force detected by the longitudinal force detection unit from a vertical force detected by the vertical force detection unit. A vehicle state quantity detection device characterized by subtracting a force to obtain an aerodynamic contact load component.   4. The vehicle state quantity detection device according to claim 3, wherein the vehicle state quantity calculation unit includes a longitudinal force detected by the longitudinal force detection unit, a vertical force detected by the vertical force detection unit, the vehicle body speed, A vehicle state quantity detection device that calculates a vehicle body mass corresponding to a longitudinal force component from a road surface inclination angle.   12. The vehicle state quantity detection device according to claim 11, wherein the vehicle state quantity calculation means calculates a vehicle body mass corresponding to the vertical force component by adding a ground load component due to aerodynamic force to the vertical force detected by the vertical force detection means. A vehicle state quantity detection that calculates and corrects a vehicle body mass based on a vehicle body mass according to the longitudinal force component, a vehicle body mass according to the vertical force component, and a weighting coefficient according to the vehicle longitudinal force apparatus.   4. The vehicle state quantity detection device according to claim 3, wherein the vehicle state quantity calculation unit includes a longitudinal force detected by the longitudinal force detection unit, a vertical force detected by the vertical force detection unit, the vehicle body speed, Calculate the vehicle body mass according to the longitudinal force component from the road surface inclination angle, calculate the vehicle body mass according to the vertical force component by adding the ground load component due to aerodynamics to the vertical force detected by the vertical force detection means, An apparatus for detecting a vehicle state quantity, comprising: an abnormality determining unit that determines an abnormality based on a deviation between a vehicle body mass corresponding to the longitudinal force component and a vehicle body mass corresponding to the vertical force component.   6. The vehicle state quantity detection device according to claim 5, further comprising: an abnormality determination unit that determines an abnormality based on a deviation between the road surface inclination angle and an actual road surface inclination angle calculated based on the longitudinal acceleration detected by the longitudinal acceleration sensor. A vehicle state quantity detection device provided.

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