| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To improve the estimation accuracy of tire ground state. <P>SOLUTION: A front wheel SAT estimated value is estimated based on a turning angle, a vehicle speed, and a road surface friction coefficient of a front wheel, a rear wheel slip ratio estimated value is estimated based on the vehicle speed, and the lateral acceleration estimated value of the vehicle is estimated based on the turning angle, the vehicle speed and the road surface friction coefficients of the rear wheel, and the front wheel. Meanwhile, a SAT detection value of the front wheel is detected, the rear wheel slip ratio detection value is detected, and the lateral acceleration detection value of the vehicle is detected. Then, a front wheel SAT estimation error defined by the difference of the estimated value of the front wheel SAT with the detection value is computed, the rear wheel slip ratio estimation error defined by the difference of the estimated value of the rear wheel slip ratio with the detection value is computed, and the lateral acceleration estimation error defined by the difference of the estimated value of the lateral acceleration with the detection value is computed. Then, the road surface friction coefficients of the rear wheel and the front wheel are corrected according to at least one, among the front wheel SAT estimation error, the rear wheel slip ratio estimation error, and the lateral acceleration estimation error. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
