| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a kinetic condition quantity estimation device wherein an estimated value of a kinetic condition quantity can be coincided with an actual true value, in no relation to a delay of change of the kinetic condition quantity relating to steering. SOLUTION: To an observer with a yaw rateγas a reference input, a detection value of car speed Vx , steering angleθ, yaw rateγ, and a road surfaceμ, is given, in the case of obtaining a yaw rate estimation valueγH and side slip angle estimation valueβH, a delay deviationγe between the yaw rate estimation valueγB via a matrix C and a yaw rate detection valueγis returned by a gain K to a preceding step of an integrator 1/S, thisγe ,θ, Vx and a vehicle model A are used, the estimation valueγH andβH are obtained. In the case of calculating the delay deviationγe , delaying by a waste time (lengthened in accordance with decreasing a road surface friction coefficientμ) exp(-ls) of a yaw rate relating to steering, the estimation valueγH is fed, this delayed estimation valueγH is further delayed by a time corresponding to a dynamic characteristic Gγ(s) of the yaw rate sensor, to be made to contribute to calculation of the deviationγe .</p> |
