State quantity estimation device, control device, and state quantity estimation method

Abstract

Realized is a technique for estimating a state quantity of a vehicle, which technique is applicable to estimation of a vehicle weight and allows an increase in accuracy and speed of the estimation. A state quantity estimating device includes a data storing section (), a predictive quantity computing section (), an obtaining section (), a Kalman gain computing section (), an estimated quantity computing section () which calculates an estimated state quantity and estimated covariance, and a process noise covariance correcting section () which corrects process noise covariance. The estimated state quantity, the estimated covariance, and the process noise covariance, each of which has been calculated or corrected, are written in the data storing section () as a state quantity, state covariance, and process noise covariance, respectively, and are used in a next computation for estimating a state quantity.