| 摘要 |
PROBLEM TO BE SOLVED: To accurately determine a load weight even when disturbance factors generate.SOLUTION: The load weight is detected based on a behavior or the center of gravity when a vehicle turns. For example, the load weight is detected based on a predetermined relation of a phase difference between a steering angle and a yaw rate to a steering angle speed as well as a steering angle speed and a phase difference between a steering angle and a yaw rate computed from detected signals of sensors 2-4. The steering angle speed and the phase difference between a steering angle and a yaw rate computed from these detected signals of sensors 2-4 are taken into account of disturbance factors such as additional brake torque, generation of slip in four tires, generation of vibration, and change of road surface within a very short time. Therefore, the load weight can be correctly detected even when the disturbance factors generate. |
