JP7131515B2 - Weight estimator and vehicle - Google Patents

Description

The present disclosure relates to a weight estimating device and vehicle that estimates the weight of a vehicle.

By estimating the vehicle weight and using the estimated weight to correct the driving force according to the amount of depression of the accelerator pedal by the driver and the braking force according to the amount of depression of the brake pedal, Vehicles have been developed that are controlled to apply appropriate driving and braking forces. The corrections made here are particularly useful for vehicles such as trucks that are heavy and whose weight varies greatly depending on the load.

As a vehicle weight estimation method, for example, Patent Document 1 discloses a method of estimating the weight of a vehicle based on the magnitude of engine torque and the amount of change in acceleration of the vehicle.

Japanese Utility Model Laid-Open No. 5-84834

However, the estimation method disclosed in Patent Literature 1 requires acceleration of the vehicle to estimate the weight of the vehicle, so the weight of the vehicle cannot be estimated unless the vehicle is running. Therefore, even when the vehicle starts running, it is not possible to perform appropriate drive control and braking control according to the weight of the vehicle until the estimation of the vehicle weight is completed.

An object of the present disclosure is to provide a vehicle weight estimating device and a vehicle that can perform appropriate drive control and braking control according to the weight of the vehicle immediately after the vehicle starts running.

A vehicle weight estimation device according to an aspect of the present disclosure is a weight estimation device for estimating the weight of a vehicle in which at least drive wheels are connected to a vehicle body by swing arm suspensions, and the vehicle is maintained in a stopped state. A vehicle control unit that drives the drive wheels of the vehicle, a change amount of a detection value of a stroke sensor that detects the stroke amount of the suspension before and after the drive wheels are driven, and when the drive wheels are driven and a weight estimator for estimating the weight of the vehicle based on the amount of energy used.

A vehicle according to an aspect of the present disclosure includes the vehicle weight estimation device.

Appropriate drive control and braking control according to the weight of the vehicle can be performed immediately after the vehicle starts running.

1 is a diagram schematically illustrating a vehicle according to an embodiment; FIG. 1 is a block diagram illustrating the configuration of a vehicle equipped with a weight estimation device according to an embodiment; FIG. Flowchart for explaining vehicle weight estimation processing by the weight estimation device FIG. 6 is a diagram illustrating a map display of data referred to when the weight estimation device executes vehicle weight estimation processing;

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In addition, the embodiment described below is an example, and the present disclosure is not limited to this embodiment.

FIG. 1 is a diagram schematically illustrating a vehicle 1 according to an embodiment. FIG. 1 shows a state in which the vehicle 1 is stopped on flat ground, and the downward direction corresponds to the direction in which gravity acts (gravitational direction). In the following description, the right side and the left side of the vehicle 1 when the driver sits in the driver's seat and sees the direction in which the vehicle 1 moves forward (forward direction) are defined as the right side and the left side, respectively. The direction opposite to the forward direction is the reverse direction.

A vehicle 1 includes a vehicle body 2 , front wheels 3 and rear wheels 4 . In addition, the vehicle 1 is an electric vehicle.

The front wheels 3 are connected to the right and left sides of the vehicle body 2 by front wheel suspensions (not shown). The rear wheels 4 are connected to the right and left sides of the vehicle body 2 by rear wheel suspensions 4S. Specifically, one end of the rear wheel suspension 4S is connected to a support member that rotatably supports the rotating shaft of the rear wheel 4, and the other end of the rear wheel suspension 4S is connected to a predetermined portion of the vehicle body 2. It is The rear wheel suspension 4S is a swing arm type suspension. In addition, the rear wheel suspension 4S can swing at the connection point with the rear wheel 4 and the connection point with the vehicle body 2 .

The front wheels 3 are non-driving wheels and the rear wheels 4 are driving wheels. The vehicle 1 moves forward when a positive driving force is applied to the rear wheels 4 from a motor 20 (see FIG. 2 ), which will be described later, and moves backward when a negative driving force is applied to the rear wheels 4 .

CB in FIG. 1 is a carrier on which a load is loaded. The weight of the vehicle 1 when it is not loaded with cargo is, for example, 3 tons. Also, the maximum load capacity of the vehicle 1 is, for example, 3 tons. That is, the weight of the vehicle 1 varies between 3 tons and 6 tons depending on the load capacity of the load. It should be noted that the weight of the vehicle 1 when it is not loaded with a load does not necessarily have to be 3 tons, and the maximum load capacity of the vehicle 1 does not have to be 3 tons.

FIG. 2 is a block diagram illustrating the configuration of the vehicle 1 including the weight estimation device according to the embodiment. Vehicle 1 includes two stroke sensors 5 , estimation start button 6 , gradient sensor 7 , ECU 10 , motor 20 , inverter 21 , battery 22 , rear wheels 4 , braking section 30 , and front wheels 3 .

One of the two stroke sensors 5 (referred to as a right stroke sensor) detects the stroke amount of the rear wheel suspension 4S connected to the right side of the vehicle body 2 and outputs the detected value to the ECU 10. The remaining one of the two stroke sensors 5 (referred to as the left stroke sensor) detects the stroke amount of the rear wheel suspension 4S connected to the left side of the vehicle body 2 and outputs the detected value to the ECU 10. do.

The estimation start button 6 is provided near the driver's seat. When the estimation start button 6 is pressed, a press detection signal is output to the ECU 10 to notify that the button has been pressed. The ECU 10 performs weight estimation processing, which will be described later, triggered by pressing of the estimation start button 6 (that is, detection of a pressing detection signal). Note that the ECU 10 may perform the weight estimation process in conjunction with the activation of the vehicle 1 .

The gradient sensor 7 is a sensor that detects the gradient of the road surface on which the vehicle 1 is located and outputs the detected value to the ECU 10 .

The ECU 10 performs overall control of the vehicle 1 (for example, motor control, battery (not shown) control, electrical equipment (air conditioner, etc.) control). The ECU 10 is a microprocessor including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

Note that in the present embodiment, the ECU 10 controls the entire vehicle 1, but the present disclosure is not limited to this. For example, a unit that performs motor control, a unit that performs battery control, and a unit that performs electrical component control may be independent of each other.

In this embodiment, the ECU 10 functions as a weight estimation device. That is, the ECU 10 functions as the vehicle control unit 12 and the weight estimation unit 13 by reading out the weight estimation program stored in the ROM, loading it into the RAM, and executing the loaded weight control program. . A storage unit 11 is configured by RAM, ROM, and the like.

The storage unit 11 stores data referred to when the ECU 10 performs processing for estimating the vehicle weight. The data to be referenced are the amount of change in the stroke amount of the rear wheel suspension S4, the amount of energy used to drive the rear wheels 4, and the amount of energy applied to the rear wheels 4 when the vehicle 1 is positioned on flat ground. A correspondence relationship with the weight of the vehicle 1 is shown. Data indicating this correspondence will be described later in detail.

The vehicle control unit 12 performs driving control and braking control of the vehicle 1 .

First, drive control will be described. The vehicle control unit 12 rotates the motor 20 using electric power supplied from the battery 22 to output driving torque. The drive torque output by the motor 20 is transmitted to the rear wheels 4 via the propeller shaft and differential gear. At this time, the vehicle control unit 12 causes the motor 20 to output driving torque using an amount of electric power corresponding to a predetermined amount of energy. Here, the predetermined amount of energy may be determined in advance, or may be any value within a predetermined range. In the following description, it is assumed that a predetermined energy amount (hereinafter referred to as energy amount Ec) is used as the predetermined energy amount.

Note that the inverter 21 converts the DC power of the battery 22 into three-phase AC power and supplies the three-phase AC power to the motor 20 when the ECU 10 requests the motor 20 to be driven.

Next, braking control will be described. The vehicle control unit 12 applies braking force to the front wheels 3 by controlling the braking unit 30 . Here, the vehicle control unit 12 can maintain the magnitude at which the vehicle 1 does not move forward or backward due to the driving force applied to the rear wheels 4, that is, the state in which the vehicle 1 is stopped (hereinafter referred to as the stopped state). A braking force of a possible magnitude is applied to the front wheels 3. Note that the braking unit 30 also applies braking force to the rear wheels 4 under the control of the ECU 10 when the ECU 10 is not executing the process of estimating the weight of the vehicle 1 .

The weight estimating unit 13 refers to the data stored in the storage unit 11 based on the amount of energy used to drive the rear wheels 4 and the amount of change in the detection value of the stroke sensor 5. Estimate the weight of Details of the estimation method will be described later.

The configuration of the vehicle 1 including the weight estimation device has been described above. The operation of the ECU 10 will be described below with reference to FIGS. 3 and 4. FIG. In the following description, it is assumed that the weight estimation process is performed while the vehicle 1 is stopped on flat ground. FIG. 3 is a flowchart illustrating weight estimation processing by the ECU 10 (that is, weight estimation device).

First, the ECU 10 determines whether or not it has received a press detection signal from the estimation start button 6 (step S1). When the depression detection signal is not received from the estimation start button 6 (NO in step S1), the ECU 10 does not start the weight estimation process, that is, the processes of steps S2 to S6, and continues until the depression detection signal is received. The processing of S1 is repeated. When the ECU 10 performs the weight estimation process in conjunction with the start of the vehicle 1, a screen (for example, Before the Ready screen is displayed, it is detected that the vehicle 1 has been activated instead of step S1. Then, when it is detected that the vehicle 1 has been started, the process proceeds to step S2.

When the depression detection signal is received from the estimation start button 6 (YES in step S1), the ECU 10 acquires the detection value of each stroke sensor 5 (step S2).

Next, the vehicle control unit 12 drives the rear wheels 4 and brakes the front wheels 3 (step S3). Here, the vehicle control unit 12 rotates the motor 20 using a predetermined amount of energy Ec, thereby applying a driving force for moving the vehicle 1 forward, that is, driving force in the positive direction, to the rear wheels 4 . The details of driving the rear wheels 4 and braking the front wheels 3 are as described above.

When step S3 is performed, the attitude of the vehicle 1 changes while the vehicle 1 is maintained in a stopped state. To explain the change in attitude in detail, when the process of step S3 is performed, a force corresponding to the driving force applied to the rear wheels 4 acts on the vehicle body 2, so the process of step S3 is performed. The vehicle is taller than before. Also, the wheelbase of the vehicle 1 becomes shorter than before the process of step S3 is performed. Furthermore, the stroke amount of the rear wheel suspension 4S changes compared to before the process of step S3 is performed. It should be noted that the vehicle height, wheelbase, and stroke amount are less likely to change as the weight of the vehicle 1 is heavier.

In step S<b>3 , the vehicle control unit 12 may apply a driving force to the rear wheels 4 to move the vehicle 1 backward, that is, a driving force in the negative direction. When the driving force in the negative direction is applied to the rear wheels 4, the vehicle height becomes lower and the wheelbase of the vehicle 1 becomes longer than before the driving force in the negative direction is applied.

Next, the ECU 10 acquires the detected value of each stroke sensor 5 (step S4). Then, the weight estimation unit 13 calculates the amount of change in the stroke amount based on the detection values of the stroke sensor 5 before and after the driving force is applied to the rear wheel 4 (step S5). Here, the weight estimation unit 13 calculates the amount of change in the stroke amount detected by the right stroke sensor and the amount of change in the stroke amount detected by the left stroke sensor.

Subsequently, the weight estimation unit 13 estimates the weight of the vehicle 1 based on the amount of change in the stroke amount calculated in step S5 (step S6).

In step S6, the weight estimator 13 first calculates the amount of energy used when the rear wheels 4 are driven. The amount of energy used corresponds to a predetermined amount of energy Ec. In addition, since the vehicle 1 of this embodiment drives the pair of rear wheels 4 with one motor 20, the weight estimation unit 13 determines that half of the amount of energy used when rotating the motor 20 is It is calculated assuming that the remaining half is used to drive the rear wheel 4 and the left rear wheel 4 is used. That is, the weight estimator 13 calculates that Ec/2 energy is used to drive the right and left rear wheels 4 respectively.

If the amount of energy used to drive the rear wheels 4 is not predetermined, the amount of energy used may be calculated based on the amount of power used to rotate the motor 20 .

Next, the weight estimation unit 13 refers to data stored in the storage unit 11 . The data referred to here can be represented as a map, for example, as shown in FIG.

FIG. 4 is a diagram illustrating a map display of data referred to when the ECU 10 executes vehicle weight estimation processing. The horizontal axis of the map is the amount of change in the stroke amount of the rear wheel suspension 4S, and the vertical axis is the amount of energy used when the rear wheel 4 is driven. R1 to R7 on the map are regions corresponding to predetermined weights. It should be noted that the areas on the map may be divided into a number corresponding to the required weight estimation accuracy, and it is not always necessary to have seven areas (seven levels).

As the amount of energy used in driving the rear wheels 4 increases, the driving force applied to the rear wheels 4 increases, so the force acting on the vehicle body 2 increases and the stroke amount of the rear wheel suspension 4S greatly changes. Therefore, the boundary lines (broken lines in FIG. 4) of the respective regions R1 to R7 are upward-sloping on the map.

On the other hand, the heavier the vehicle 1 is, the more difficult it is for the stroke amount to change, and the lighter the vehicle 1 is, the more easily the stroke amount changes. Therefore, when focusing on a certain amount of energy (for example, Ec/2), a region showing a larger weight value is positioned toward the left.

Thus, the map shown in FIG. 4 shows the correspondence between the amount of energy used when driving the rear wheels 4, the amount of change in stroke amount, and the weight of the vehicle 1 applied to the rear wheels 4. there is The data constituting this map are obtained experimentally in advance.

The weight estimating unit 13 refers to the map and determines in which region on the map the point indicating the amount of change in the detected stroke amount and the amount of energy used is located. In FIG. 4, the OR point indicating the amount of change in the stroke amount calculated from the amount of change in the detected value of the right stroke sensor and the amount of energy (Ec/2) used to drive the right rear wheel 4 is the area R5. It is exemplified that it is located in FIG. 4 also shows the amount of change in the stroke amount calculated from the amount of change in the detected value of the left stroke sensor and the OL point indicating the amount of energy (Ec/2) used to drive the left rear wheel 4. It is shown to be located at R6.

Based on the positions of the OR point and the OL point on the map, for example, the weight estimation unit 13 determines that the weight value applied to the right rear wheel 4 of the vehicle 1 is M5, and the weight value applied to the left rear wheel 4 of the vehicle 1 is M6. It is determined that Then, the weight estimating unit 13 sums the weight values applied to the right and left rear wheels 4 of the vehicle 1 to estimate that the weight value of the vehicle 1 is M5+M6.

The ECU 10 stores in advance the weight value of the front side (that is, the driver's seat side) of the vehicle 1 , that is, the weight value applied to the right and left front wheels 3 of the vehicle 1 . A value obtained by adding the weight values applied to the right and left front wheels 3 of the vehicle 1 to the total weight value may be estimated as the weight value of the vehicle 1 .

When the process of step S6 is completed, the ECU 10 terminates the weight estimation process.

The weight value obtained by the weight estimation process is used for drive control and braking control by the ECU 10 after the vehicle 1 has traveled.

The heavier the vehicle 1 is, the more difficult the vehicle 1 is to accelerate and decelerate, and the lighter the vehicle 1 is, the easier the vehicle 1 is to accelerate and decelerate. Therefore, when the ECU 10 applies a driving force to the rear wheels 4 corresponding to the amount of depression of the accelerator pedal by the driver, the vehicle 1 is not always accelerated at the same acceleration according to the amount of depression. Similarly, when the ECU 10 applies a braking force to the wheels corresponding to the amount of depression of the accelerator pedal or the amount of depression of the brake pedal by the driver, it does not necessarily correspond to the amount of depression of the accelerator pedal or the depression amount of the brake pedal. Accordingly, the vehicle 1 is not always decelerated with the same acceleration.

The ECU 10 corrects the driving force value according to the amount of depression of the accelerator pedal by the driver based on the weight value estimated by the weight estimation process, and controls the motor 20 and the rear wheel 4 so that the corrected driving force is applied to the rear wheels 4 . It controls the inverter 21 .

The ECU 10 also controls the braking force by controlling the motor 20 based on the weight value estimated by the weight estimation process. Further, the ECU 10 corrects the value of the braking force according to the amount by which the driver depresses the accelerator pedal or the amount by which the brake pedal is depressed, based on the weight value estimated by the weight estimation process. The braking unit 30 is controlled so that power is applied to the wheels.

After the vehicle 1 runs, the ECU 10 estimates the weight based on, for example, the values detected by the acceleration sensor. That is, the weight values estimated in the weight estimation process described above are sequentially corrected as the vehicle 1 travels. Then, the ECU 10 performs the aforementioned drive control and braking control based on the corrected weight value.

As described above, according to the present embodiment, the weight estimating apparatus brakes the front wheels 3 and drives the rear wheels 4, and calculates the amount of energy used to drive the rear wheels 4 and the amount of energy used to drive the rear wheels 4. The weight of the vehicle 1 is estimated based on the amount of change in the stroke amount of the front and rear rear wheel suspensions 4S. Therefore, the weight of the vehicle 1 can be estimated without making the vehicle 1 travel. Therefore, from immediately after the vehicle 1 starts running, appropriate drive control and braking control including regenerative braking force control according to the weight of the vehicle 1 can be performed.

In addition, since the data indicating the correspondence relationship between the amount of change in the stroke amount of the rear wheel suspension 4S, the amount of energy used to drive the driving wheels, and the weight is stored in advance, the weight estimation device can calculate the weight estimation. Then, the weight of the vehicle 1 can be estimated based on the data. That is, the weight estimation device can estimate the weight of the vehicle 1 without requiring complicated calculations.

In addition, in this embodiment, the amount of energy used to drive the drive wheels is determined in advance or is calculated from the amount of electric power used when rotating the motor 20, so the amount of energy used can be calculated more accurately. can be calculated to Therefore, the weight of the vehicle 1 can be estimated more accurately.

(Modification)
Modifications will be described below. Differences from the above-described embodiment will be mainly described below.

A vehicle 1 according to a modification, as shown in FIG. 2, has a configuration similar to that of the vehicle 1 of the above-described embodiment. The ECU 10 according to the modification corrects the stroke amount detected by the stroke sensor 5 based on the detection value output from the gradient sensor 7 so as to be the stroke amount when the vehicle 1 is stopped on the flat ground. The functions and configurations of the ECU 10 according to other modifications are the same as those of the ECU 10 of the above-described embodiment.

Next, weight estimation processing of the ECU 10 according to the modification will be described. Note that the weight estimation process of the ECU 10 according to the modified example is the same as the weight estimation process of the ECU 10 according to the embodiment described above, except for the points described below.

The ECU 10 according to the modification acquires the detection value of the gradient sensor 7 after acquiring the detection value of the stroke sensor 5 in step S2 shown in FIG. Then, the ECU 10 uses the acquired detection value of the gradient sensor 7 to correct the detection value of the stroke sensor 5 acquired in step S2 so that it becomes the detection value when the vehicle 1 is stopped on level ground. After correcting the detection value of the stroke sensor 5, the ECU 10 performs the process of step S3. After acquiring the detection value of the stroke sensor 5 in step S4, the ECU 10 uses the detection value of the gradient sensor acquired before driving the rear wheels 4 (that is, before step S3). Then, the detected value of the stroke sensor 5 is corrected so as to be the detected value when the vehicle 1 is stopped on the flat ground. After correcting the detection value of the stroke sensor 5, the ECU 10 performs the process of step S5. Note that the process of step S5 is performed based on the detected value of the stroke sensor 5 (that is, stroke amount) corrected using the detected value of the gradient sensor 7 .

As described above, according to the modified example, the effects of the above-described embodiment can be obtained. In addition, according to the modified example, since the stroke amount of the stroke sensor 5 is corrected based on the detection value of the gradient sensor 7, even if the vehicle 1 is stopped on an inclined road surface, the vehicle 1 does not move. Errors due to gravity can be removed when estimating weight. Therefore, the weight of the vehicle 1 can be estimated more accurately. Note that the slanted road surface referred to here is a road surface that is slanted with respect to a plane perpendicular to the direction of gravity.

In the above-described embodiment and modification, the rear wheels 4 are driving wheels and the front wheels 3 are non-driving wheels. may

When the rear wheels 4 and the front wheels 3 are driving wheels, the ECU 10 drives the driving wheels of the vehicle 1 while maintaining the stopped state of the vehicle 1 in step S3 of the weight estimation process. , and control other than the control of applying the driving force to the rear wheels 4 may be performed. For example, the ECU 10 may control the front wheels 3 and the rear wheels 4 as shown in (a) to (c) below.
(a) Apply a driving force in the positive direction to the front wheels 3 and apply a driving force in the negative direction to the rear wheels 4 .
(b) applying a driving force in the negative direction to the front wheels 3 and applying a driving force in the positive direction to the rear wheels 4;
(c) applying a positive or negative driving force to the front wheels 3 and applying a braking force to the rear wheels 4;

However, when at least the control shown in (c) is performed, the front wheel suspension connecting the front wheel 3 and the vehicle body 2 is a swing arm suspension, and the stroke sensor 5 detects the stroke amount of the front wheel suspension. do. Then, the ECU 10 refers to the data stored in the storage unit 11 based on the amount of change in the stroke amount of the front wheel suspension before and after the front wheels 3 are driven and the amount of energy used when the front wheels 3 are driven. Estimate the weight of the vehicle 1 . The data referenced at this time is the correspondence relationship between the amount of energy used to drive the front wheels 3, the amount of change in the stroke amount of the front and rear suspensions driven by the front wheels 3, and the weight of the vehicle 1 applied to the front wheels 3. indicates

In any of the cases shown in (a) to (c), when the weight of the vehicle 1 is heavy, the amount of change in the stroke amount is small, and when the weight of the vehicle 1 is light, the amount of change in the stroke amount is big.

In the above-described embodiment and modification, the vehicle 1 drives the pair of rear wheels 4 with one motor 20, but the vehicle 1 has the right front wheel 3, the left front wheel 3, and the right rear wheel. 4 and the left rear wheel 4 may be provided with a plurality of motors for transmitting driving force to each of them. In other words, the vehicle 1 may be provided with the same number of motors as the number of wheels for driving one wheel. Thus, when the weight estimation device is provided in the multi-motor vehicle 1, the weight estimation device can control all the wheels separately. Therefore, in step S3 of the weight estimation process, the weight estimation device, for example, applies a positive driving force to the right front wheel 3, a negative driving force to the left front wheel 3, a negative driving force to the right rear wheel 4, and a negative driving force to the left rear wheel 4. A positive driving force may be applied to the rear wheels 4 .

Although the vehicle 1 is an electric vehicle in the above-described embodiment and modification, the vehicle 1 may be a hybrid vehicle.

Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be modified and implemented as appropriate without departing from the scope of the present disclosure.

INDUSTRIAL APPLICABILITY The present disclosure can be applied to a vehicle weight estimation device that suitably estimates the weight of a vehicle.

REFERENCE SIGNS LIST 1 vehicle 2 vehicle body 3 front wheel 4 rear wheel 4S rear wheel suspension 5 stroke sensor 6 estimation start button 7 gradient sensor 10 ECU
REFERENCE SIGNS LIST 11 storage unit 12 vehicle control unit 13 weight estimation unit 20 motor 21 inverter 22 battery 30 braking unit CB carrier

Claims (6)

A weight estimating device for estimating the weight of a vehicle in which at least driving wheels are connected to a vehicle body by a swing arm type suspension,
a vehicle control unit that drives driving wheels of the vehicle while maintaining the stopped state of the vehicle;
estimating the weight of the vehicle based on the amount of change in the detection value of a stroke sensor that detects the stroke amount of the suspension before and after the drive wheels are driven, and the amount of energy used when the drive wheels are driven; a weight estimator;
Weight estimator. The weight estimating unit corrects the detection value of the stroke sensor based on the detection value of a gradient sensor that detects the gradient of the road surface on which the vehicle is located, and calculates the corrected detection value before and after the drive wheels are driven. estimating the weight based on the amount of change and the amount of energy;
The weight estimation device according to claim 1. a storage unit that stores a correspondence relationship between the amount of change in the detection value of the stroke sensor, the amount of energy, and the weight of the vehicle;
The weight estimation unit estimates the weight of the vehicle based on the correspondence relationship.
The weight estimation device according to claim 1. The vehicle control unit drives the driving wheels and brakes the non-driving wheels of the vehicle.
The weight estimation device according to any one of claims 1 to 3. The drive wheels include a front drive wheel and a rear drive wheel,
The vehicle control unit applies a driving force for moving the vehicle forward to one of the front driving wheels and the rear driving wheels, and applies a driving force for moving the vehicle backward to the other of the front driving wheels and the rear driving wheels.
The weight estimation device according to any one of claims 1 to 3. A vehicle comprising the weight estimation device according to any one of claims 1 to 5.

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