| 摘要 |
PURPOSE:To estimate with a simple constitution and high precision a slide angle which is an angle which the advancing direction of a vehicle and longitudinal direction of the vehicle body during the turning make, with regard to a vehicle status estimation device. CONSTITUTION:A longitudinal vehicle speed sensor 12 which detects a vehicle speed mu in the longitudinal direction of the vehicle is arranged on the longitudinal axis line of the vehicle 10. A longitudinal acceleration sensor 14 which detects an acceleration Gx in the longitudinal direction of the vehicle and a yaw rate sensor 16 which detects a yaw rate tau during the turning of the vehicle are arranged in the vicinity of center of gravity of the vehicle. A vehicle slide angle calculation unit 22 of an ECU(Electronic Control Unit) 20 obtains a longitudinal component Sx of a centripetal force S generated during the turning of the vehicle by substracting du/dt from an acceleration Gx. Since the longitudinal component Sx is a product of a width direction vehicle speed v and a yaw rate tau, v=(du/dt-Gx)/rho is obtained by reverse calculation, and a vehicle slide angle beta is obtained as beta=tan<-1>(v/mu). |
