| 摘要 |
PROBLEM TO BE SOLVED: To simultaneously and accurately estimate both of a road surface friction coefficient and a vehicle body slide angle by using a parameter conventionally accurately obtained, without using a new sensor and the like. SOLUTION: A control portion 2 computes target tire force F'v having target tire lateral force estimating values F'f_y, F'r_y of a front wheel and a rear wheel as elements, on the basis of lateral acceleration (d<SP>2</SP>y/dt<SP>2</SP>) abd yaw rates (dψ/dt). While tire force estimating value Fv having tire force estimating values Ff_y, Fr_y of the front wheel and the rear wheel as elements is repeatedly computed on the basis of a secondary approximate model set in advance, a road surface friction coefficientμminimizing a deviation between a target tire for F7v and the tire force estimating value Fv, and a value of a vehicle body slide angleβare simultaneously estimated by optimizing calculation to output. COPYRIGHT: (C)2008,JPO&INPIT |
