| 摘要 |
PROBLEM TO BE SOLVED: To obtain an accurate estimating yaw rate corresponding to a friction coefficient of a road surface by adding minimum soft ware and processing time while using conventional a linear response function, in a vehicular yaw rate estimating device comprising a steering angle detector detecting a steering angle, a parameter setting means setting a parameter of the linear response function established between the steering angle and a yaw rate so as to correspond to the road surface of a high friction coefficient about each set vehicular speed different from each other, and a computing means computing an estimating yaw rate on the basis of the linear response function using the parameter set by the parameter setting means and the steering angle detected by the steering angle detector. SOLUTION: A phase considering steering angle causing phase delay to a detection value of the steering angle detector 1 is inputted from a low pass filter 4 to the computing means 3. A phase parameter of the low pass filter 4 is set according to a friction coefficient by the phase parameter setting means 6. COPYRIGHT: (C)2006,JPO&NCIPI |
