| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy in attitude control by estimating the slip ratio between a wheel and a road surface in a traveling direction of a vehicle by an arithmetic means to obtain the force in a longitudinal direction and that in a lateral direction to be applied to each wheel. SOLUTION: An attitude control device 1 takes the outputs of a yaw rate sensor 6 and a steering angle sensor 14 when the breaking operation is detected by a brake pressure sensor 12, and determines the wheel speed V' on the basis of the wheel rotating speed sensor 10 of the front and rear wheels 8, 9. Then it takes the detecting output Gx from a longitudinal acceleration sensor 18 to calculate the slip ratio sf in a tire force arithmetic part 2. The actual vehicle speed V is calculated by using the obtained value. Simultaneously, the slip ratio of each wheel is calculated on the basis of the actual speed V and the rotating speed of each wheel to be used as the longitudinal force Fx. Further each angle of side slip βf, βr of the front and rear wheels are determined on the basis of the actual speed V, the acceleration Gy in a lateral direction, the yaw rate ω, the steering angle δ or the like, and the force Fy in the lateral direction is determined on the basis of the braking force or the driving force acting on each wheel. |
