VEHICLE BODY SPEED ESTIMATING DEVICE

摘要

A vehicle body speed estimating device is provided. An attitude angle estimating means estimates a roll angle and a pitch angle. A longitudinal speed computing means computes longitudinal vehicle body speed. A vehicle body speed estimating means estimates lateral vehicle body speed by using, as state amounts of vehicle motion, the longitudinal vehicle body speed and the lateral vehicle body speed, and on the basis of respective detected values of longitudinal acceleration, lateral acceleration and yaw angular velocity of vehicle motion, and respective estimated values of the roll angle and the pitch angle, and a product of a computed value of the longitudinal vehicle body speed and a value obtained from an absolute value of the detected value of the yaw angular velocity.