| 摘要 |
PROBLEM TO BE SOLVED: To estimate the bank angle of a road surface without using yaw rates and lateral acceleration. SOLUTION: A detection section 22 directly detects lateral force Fy and longitudinal force Fz operating on a wheel 5. An estimation section 21a estimates the lateral force FY of a vehicle operating in the lateral direction of the vehicle, on the basis of the lateral force Fy, and estimates the longitudinal force FZ of the vehicle operating in the longitudinal direction of the vehicle, based on the longitudinal force Fz. Then, by using the lateral force FY of the vehicle and the longitudinal force FZ of the vehicle as operation parameters, a bank angleθof a road surface is estimated, on the basis of the amount of offset between the centrifugal force and gravity of the vehicle to the lateral force FY of the vehicle and the amount of offset between the centrifugal force and gravity of the vehicle to the longitudinal force FZ of the vehicle. COPYRIGHT: (C)2006,JPO&NCIPI
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