Device for estimating vehicle lateral slip angle changes between measurement and model-based estimator outputs depending on measured transverse tire load

摘要

The device has a monitor of the degree of vehicle movement including vehicle speed, transverse acceleration, yaw rate and steering angle, a motion model memory, a first estimator that computes a lateral slip angle rate from measurements and integrates it over a defined cycle, a second estimator using monitored state and the model, a transverse tire load detector and a device for changing between estimator outputs depending on transverse load.