| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle state detecting device which detects the instability of the behavior of a vehicle or a sign of the instability precisely even if the grip of tires of the vehicle weakens. SOLUTION: The vehicle state detecting device detects the state of the vehicle using an alignment torque Ta receiving from a road surface and a sideskid angleβ. The torque Ta and the sideskid angleβhave a relational characteristic defined by the torque Ta/the sideskid angleβ, where the torque Ta is in proportion to the sideskid angleβwhen the sideskid angleβis small, and the torque Ta decreases when the sideskid angleβincreases. Using this characteristic, a reference value is calculated on the basis of a line gradient given by the torque Ta/the sideskid angleβand of the sideskid angle in an area where the sideskid angleβis small. When a deviation between the reference value and a measured value becomes large, the vehicle is judged to be in a state of unstable behavior. Also, when the gradient of the torque Ta against the sideskid angleβdeviates greatly from the gradient of an approximate line, the vehicle is also judged to be in an unstable state. COPYRIGHT: (C)2006,JPO&NCIPI |
