| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a method for estimating yaw rate capable of easily and appropriately obtaining the yaw rate necessary and sufficient to perform, e.g., trajectory tracking control, without using an expensive yaw rate sensor. <P>SOLUTION: To calculate the yaw rate during the turning movement of a four-wheeled vehicle that has pairs of right and left front and rear wheels and that is driven to run by steering the front wheels and/or the rear wheels, the steering angles of the front wheels and/or the rear wheels are detected during the turn of the vehicle and the running speed of the vehicle is also detected. The steering angles of the vehicle as an equivalent model where the pairs of right and left front and rear wheels are replaced by front and rear wheels on the centerline of the vehicle are calculated on the basis of the steering angles of the front wheels and/or the rear wheels, and the turning speedγof the vehicle is estimated on the basis of the turning radius Ro of the vehicle, which is geometrically calculated on the basis of the steering angles of the vehicle as the equivalent model, and of the running speed V of the vehicle. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
