| 摘要 |
A method of estimating vehicle inertial parameters for use in a vehicle stability control system including the steps of obtaining measurements of tire normal forces, calculating an estimated total vehicle mass, calculating an estimated mass proportioned between axles, and performing a vehicle stability control calculation using an estimated vehicle inertial parameter. In a second aspect of the method, a method of estimating vehicle inertial parameters using measurements of tire lateral forces. In a third aspect, a method of predicting tire forces including the steps of obtaining measurements of tire normal or tire lateral forces, calculating a corresponding set of expected tire forces, blending the measured tire forces and said corresponding set of expected tire forces to produce a set of blended tire forces, calculating a second set of expected tire forces of the other kind, combining the set of blended tire forces and second set of expected tire forces to produce a set of predicted tire lateral forces for each tire of the vehicle, and performing a vehicle control calculation using the set of predicted tire lateral forces.
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