| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate the vehicle body speed of a vehicle without deciding whether or not a wheel is put in a slip state, and without selecting any arithmetic procedure based on the decision result. SOLUTION: Driving/braking torque Ti of each wheel is calculated, and the wheel speedωi of each wheel is detected, and the estimated wheel speedωhi of each wheel and estimated longitudinal acceleration Gxwhi of each wheel, that is, the longitudinal acceleration of the vehicle body at the position of each wheel is calculated according to a wheel model (52) on the basis of the driving/braking torque Ti of each wheel, and the integrated value of the mean values of the longitudinal acceleration Gxwhi is calculated as the variation of the estimated vehicle body speed, and the sum of the previous value of the estimated vehicle body speed Vh and the variation of the estimated body speed is calculated as an estimated vehicle body speed Vh, and feedback based on deviationωi-ωhi between the wheel speed and estimated wheel speed of each wheel is carried out. COPYRIGHT: (C)2007,JPO&INPIT |
