| 摘要 |
PROBLEM TO BE SOLVED: To provide a side force estimating device, which can precisely estimate the side force occurring in a wheel because of surface disturbance for both high and low frequency bands, and a steering device using it, which can cancel the side force caused by surface disturbance, thereby insuring stable running of the vehicle. SOLUTION: An estimating device possesses both a side force estimating means M3, which estimates the side force, which occurs in a wheel because of surface disturbance, based on both a distance between a wheel and a car body in addition to a car speed, and a lateral speed estimating means M4, which estimates an absolute lateral speed of a car body, or a lateral speed of the vehicle, based on the distance detected, in order to estimate the side force in consideration of the estimated, absolute lateral speed of the car body. With this, the side force due to surface disturbance having a low frequency can be estimated as precisely as in the case of the surface disturbance having a high frequency, in consideration of the absolute side force of the car body. |
