| 摘要 |
The present invention is directed to an apparatus for estimating a vehicle side slip angle, which includes a monitor for monitoring quantity of motion state of a vehicle including such signals as a vehicle speed, a vehicle lateral acceleration, a yaw rate and a steering angle, and includes a motion model memory for storing a vehicle motion model. A first estimation device estimates a vehicle side slip angle by calculating a vehicle side slip angular velocity on the basis of the vehicle speed, vehicle lateral acceleration and yaw rate, and integrating the vehicle side slip angular velocity in a predetermined calculating cycle. Also, a second estimation device estimates the vehicle side slip angle on the basis of the quantity of motion state monitored by the monitor, and the vehicle motion model stored in the motion model memory. A tire load determination device determines a lateral load to each tire of the vehicle on the basis of the result monitored by the monitor. And, a changing device changes between the estimation of the vehicle side slip angle made by the first estimation device and the estimation of the vehicle side slip angle made by the second estimation device, in accordance with the result of determination of the tire load determination device.
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