| 摘要 |
PROBLEM TO BE SOLVED: To provide a transverse acceleration computing unit for vehicle capable of detecting transverse acceleration of a vehicle with a high precision in a simple construction. SOLUTION: A transverse acceleration G of high precision is found by providing a car speed sensor 21, a steering angle sensor 22, a yaw rate sensor 23, and a transverse acceleration sensor 27, computing a reference yaw rateγb from a car speed V and a steering angel H by a reference yaw rate computing means 24, computing the cross gradeθof the road surface on which this vehicle runs on the basis of a detected yaw rateγs and a reference yaw rateγb by a cross-grade computing means 25, computing the transverse acceleration Gb of the vehicle on the basis of the car speed V and the detected yaw rateγs and the cross-gradeθof the road surface by a transverse acceleration computing means 26, subtracting the computed transverse acceleration Gb from the detected transverse accelerating Gs by a low frequency component removing means 28 and computing an error by a temperature change, and removing this error from the detected transverse acceleration Gs .
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