| 摘要 |
PROBLEM TO BE SOLVED: To quickly and easily perform the switching between estimation of vehicle body side-slip angle by integral calculation and estimation of vehicle body side-slip angle based on a vehicle movement model to properly estimate the body side-slip angle. SOLUTION: The movement state quantities of a vehicle including vehicle speed, lateral acceleration, a yaw rate, and a steering angle are detected by a movement state detecting means DT, and a vehicle movement model is stored in a vehicle movement model memory means ML. The body side-slip angular velocity is calculated by a first body side-slip angle estimating means S1, and this is integrated at a prescribed calculation period to estimate the body side-slip angle, and the body side-slip angle is also estimated based on the vehicle movement model by a second body side-slip angle estimating means S2. Further, the lateral load on tires is decided based on the movement state quantity of the vehicle by a tire load decision means TR, and the estimation by the first body side-slip angle estimating means and the estimation by the second body side-slip angle estimating means are switched by a switching means CS according to the decision result. |
