| 摘要 |
PURPOSE: A device and a method of controlling vehicles are provided to predict side-slip angle signals required for controlling traverse direction control of vehicles by using yaw rate signals and steering angle signals. CONSTITUTION: A device for controlling vehicles comprises a yaw rate detection unit, a steering angle sensor and a MCU(Micro Computer Unit). The yaw rate detection unit detects the yaw rate of the vehicles. The steering angle sensor detects the steering angle of the vehicles. The MCU calculates the yaw rate based on a general equation 1. The MCU calculates side-slip angle of the vehicles based on the difference of the practical yaw rate detected by the yaw rate detection unit and the calculated yaw rate. The symbols in the equation 1 is as follows: lf indicates a distance from the front wheel axle to the centroid, and lr indicates a distance from the rear wheel axle to the centroid. Cαf indicates the front-wheel stiffness, and Cαr indicates the rear wheel stiffness. L indicates lf + lr, m indicates the mass of the vehicles,δindicates the steering angle, and V indicates wheel speed in a longitudinal direction. |
