| 摘要 |
PROBLEM TO BE SOLVED: To estimate a skid angle of a tire with high accuracy. SOLUTION: In this controller, an arithmetic unit 5 provided in a vehicle calculates the lateral skid angleβof the vehicle from a steering angleθof the traveling tire and a lateral accelerationαy according to equation (1):β(t+Δt)=m(δ1×αy×cosθ+δ2(m)×sin(θ--β(t)) (1) (wherein, m is a vehicle mass;δ1 is a tire physical property value concerning shearing; andδ2 is a tire physical property value concerning torsion). Next, the arithmetic unit 5 substitutes the lateral skid angleβfor equation (2) and equation (3) to calculate a vehicle position (x, y): x(t+Δt)=x(t)+vsin(θ-β)Δt (2) (wherein, v is a vehicle velocity); y(t+Δt)=y(t)+vcos(θ-β)Δt (3). The controller corrects a traveling track on the basis of the vehicle position (x, y). |
