| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle state quantity estimating device capable of setting a reference vehicle speed corresponding to wheels with high accuracy. SOLUTION: A wheel speedωdetected by a wheel speed sensor, and three-axial forces Fx, Fy, Fz acting on wheels are read (step S1), and whether the vehicle is braked or driven is judged (steps S3, S5). When the vehicle is not braked or driven, a reference vehicle speed Vxi is calculated on the basis of the wheel speedω(step S7), and when the device is braked or driven, a motion equation of the wheels is solved on the basis of outputs Fx, Fz of an applied-force sensor, so as to calculate the reference vehicle speed Vxi (step S13). Furthermore, during steering, a slip angleβi can be also calculated on the basis of the outputs Fy, Fz of the applied-force sensor (step S17). COPYRIGHT: (C)2005,JPO&NCIPI
|
