| 摘要 |
PROBLEM TO BE SOLVED: To accurately operate the side slip angle of a vehicle body by using an appropriate operation expression according to the traveling condition of a vehicle, and accurately obtain the sideslip angle of a wheel by using the sideslip angle with high accuracy. SOLUTION: The traveling condition of a vehicle is detected by a traveling condition detecting means 13, the sideslip angle of a vehicle body is calculated by a first sideslip angle calculating means 16 with the sideslip angle as the first sideslip angle by integrating the differentiated value of the sideslip angle obtained based on a non-linear four- wheel vehicle motion model, the sideslip angle of a vehicle body is calculated by a second sideslip angle calculating means 17 with the sideslip angle of the vehicle body as the second sideslip angle by an operation expression of a linear two-wheel vehicle motion model, one of the first and second sideslip angles is uniquely selected by a selecting means according to the detected traveling condition by the traveling condition detecting means 13 so as to select the second sideslip angle calculating means 17 when the traveling condition detecting means 13 detects the condition where the vehicle travels straight at low speed, and the slip angle of each wheel is calculated by a slip angle calculating means 19 based on the sideslip angle selected by the selecting means 18. |
