| 摘要 |
A vehicle dynamics behavior reproduction system capable of describing accurately behavior of a motor vehicle in a lateral direction even for nonlinear driving situation includes a vertical wheel force arithmetic module ( 105 ), a lateral wheel force arithmetic module ( 110 ), a cornering stiffness adaptation module ( 115 ), a state space model/observer unit ( 120 ), a selector ( 130 ), a delay module ( 135 ), and a tire side slip angle arithmetic module ( 125 ). Vertical wheel forces (FZ<SUB>ij</SUB>) and tire side slip angles (alpha<SUB>ij</SUB>) are determined by using sensor information and estimated values while lateral wheel forces (FY<SUB>ij</SUB>) are determined in accordance with a relatively simple nonlinear approximation equation. The lateral wheel force (FY<SUB>ij</SUB>) and the tire side slip angle (alpha<SUB>ij</SUB>) provide bases for adaptation of cornering stiffnesses at individual wheels. Vehicle motion is accurately described to a marginal stability by using adapted cornering stiffnesses (C<SUB>ij</SUB>) and other information.
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