Body velocity estimating device, and collision safety protecting system

Abstract

Body velocity estimating deviceA is constituted by acceleration measurement unit, acceleration separation unit, filter processing operation unit, acceleration addition unit, integration processing operation unit, and estimated body velocity output unit. The unitcompares an acceleration measured by the unitwith set acceleration upper and lower limit reference values to separate the measured acceleration into reference value range-in and range-out accelerations. The unitperforms filtering on the separated reference value range-out acceleration to calculate filtered accelerations of the reference value range-out acceleration. The unitadds the filtered accelerations to the previously separated range-in acceleration. The unitmultiplies the added acceleration by an operation period, and adds the resultant to the estimated body velocity calculated in the preceding one operation period to update the value of the estimated body velocity. The unitoutputs the updated estimated body velocity.