| 摘要 |
PROBLEM TO BE SOLVED: To provide a slip rate estimator which does not require detection of vehicle speed at braking. SOLUTION: The slip rate estimator mounted on an automobile in which a drive wheel is driven by a torque of a motor, includes a vehicle model calculating device which calculates rotational speedωof the drive wheel and rotational accelerationωdot, and a slip rate calculating device which calculates slip rateλhat using a torque T measured by a motor torque measuring means and the rotational speedωand rotational accelerationωdot calculated by the vehicle model calculating device. Since the slip rate calculating device solves an ordinary differential equation in consideration of temporal change of the slip rate, the slip rate can be estimated precisely without requiring detection of vehicle speed. COPYRIGHT: (C)2009,JPO&INPIT |
