| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle body slip angle estimating device capable of accurately estimating a vehicle body slip angle regardless of the frequency of occurrence of the state during traveling, in estimating the vehicle body slip angle with an algorithm using a nonlinear model. SOLUTION: In the vehicle body slip angle estimating device 1, a basic value-calculating section 30 calculates a basic valueβb of the vehicle body slip angle with an algorithm (expressions 1, 2) using a neural network model. A turning traveling state determining section 31 determines whether the vehicle 3 is in a predetermined limit turning traveling state. A correction value calculating section 32 calculates a correction valueβc with an algorithm (expressions 5 to 7) using a predetermined linear model when the vehicle 3 is in the predetermined limit turning traveling state, and sets the correction valueβc to be 0 in the other cases. A straight traveling determining section 33 sets the vehicle body slip angleβto the sum of the basic valueβb and the correction valueβc when the vehicle 3 is in the turning traveling state. COPYRIGHT: (C)2009,JPO&INPIT
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