| 摘要 |
PROBLEM TO BE SOLVED: To dispense with the direct detection of road friction coefficient and body slip angle and to improve the stability and responsiveness of vehicle behavior control by determining a virtual body slip angle and road friction coefficient by regressive calculation within a system forming a closed loop. SOLUTION: During the traveling of a vehicle, the tire slip angle α is arithmetically calculated 3, 4 from yaw rate γ, vehicle speed V, body slip angle β as initial value (or previously calculated value) and wheel steering angle δ. The cornering force Y is arithmetically calculated 5, 6 from slip angle α, and virtual body slip angle βe is arithmetically calculated 7 from each data Y, V, γ. The road surface friction coefficient is estimated from the relation of the cornering force Ye calculated from the yaw rate γ and side acceleration GY with the body slip angle βD calculated from each data γ, GY, V by a μ estimating device 10, and the virtual body slip angle βe is fed back to arithmetically calculate the slip angle α. |
