| 摘要 |
PROBLEM TO BE SOLVED: To estimate side slip angle with high precision even if vehicle speed changes during turning in estimating the vehicle body side slip. SOLUTION: Front/rear vehicle body speed Vx, lateral acceleration Gy, and yaw rateθ(.) are detected by a front/rear vehicle body speed detector 10, a lateral G detector 12, and a yaw rate detector 14 respectively. Using these detected values, an integrator 26 estimates a vehicle body side slip angle by [Gy-Vx(.).β(t-1)]/Vx-θ(.)} dt. By calculating the side slip angle in view of the time change Vx(.) in front/rear vehicle body speed Vx, it is possible to calculate the vehicle body side slip angle with high precision even if the vehicle body speed Vx is not constant while turning. |
