ESTIMATION OPERATION DEVICE OF CENTER-OF-GRAVITY HEIGHT OF VEHICLE

摘要

PROBLEM TO BE SOLVED: To rationally estimate the behavior of a vehicle such as a skid and a wheel lift by real-time operation, and to estimate the height of center of gravity. SOLUTION: The height of center of gravity is obtained according to a steering angle when a vehicle turns left and right or changes its lane and a roll angle being generated at that time. The transfer function of roll for the steering angle of a dynamics model with degree of freedom including the roll is equal to that of the roll for the steering angle being obtained by the AR method (auto-regressive method) from data being sampled from a loaded vehicle, thus deriving the height of center of gravity by comparing coefficients.