| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a slip angle estimation device capable of estimating a slip angle even when failure occurs in a lateral acceleration sensor by reducing the effect of the failure. <P>SOLUTION: An actual vehicle behavior observation device 302 compensates a slip angle estimation reference valueβ<SB POS="POST">std</SB>estimated by aβestimation block 302a with a slip angle compensation valueβc calculated by aβcompensation block 302b, and estimates an estimated gravity center slip angleβ<SB POS="POST">act</SB>. Theβcompensation block 302b limits the magnitude of the slip angle compensation valueβc calculated on the basis of a lateral acceleration signal G<SB POS="POST">S</SB>input from the lateral acceleration sensor to a range between an upper limit valueβ<SB POS="POST">lmtu</SB>and a lower limit valueβ<SB POS="POST">lmtd</SB>by aβcompensator limiter 322g, and prevents the slip angle compensation valueβc from being more than the upper limit valueβ<SB POS="POST">lmtu</SB>and from being less than the lower limit valueβ<SB POS="POST">lmtd</SB>when the failure occurs in the lateral acceleration sensor for output of the lateral acceleration signal G<SB POS="POST">S</SB>. <P>COPYRIGHT: (C)2012,JPO&INPIT</p> |
