METHOD OF ESTIMATING VEHICLE BODY SLIP ANGLE, AND SLIP ANGLE OF FOUR WHEELS

摘要

PROBLEM TO BE SOLVED: To provide a method of estimating a vehicle body slip angle by the necessary and minimum signal by using a sensor which can be simply attached, and a method of estimating each slip angle of four wheels by using the vehicle body slip angle. SOLUTION: The output of first and second acceleration sensots 11, 12 provided on a vehicle body barycentric portion and a wheel speed sensor 13 detecting the speed of a wheel is A/D converted by a vehicle body slip angle estimating means 14. Vehicular fore-and-aft acceleration axof each ampling time intervalΔt, lateral acceleration ay, and vehicle body speed V are obtained. By using the fore-and-aft acceleration ax, lateral acceleration ay, the vehicle body speed V, and the sampling time intervalΔt, an estimating valueβof the vehicle body slip angle, the vehicle body speed V, a steering angleδ, and a yaw rateγ, each slip angleαL, F'αR, F'αL, R'αR, Rof the four wheels is estimated. COPYRIGHT: (C)2006,JPO&NCIPI