| 摘要 |
A device for estimating reference wheel speed of each wheel of a vehicle having: a calculator for calculating slip angle of vehicle body based upon lateral acceleration, yaw rate, and vehicle speed; an estimator for estimating speed of vehicle body at its center of gravity based upon wheel speed and yaw rate; and a calculator for calculating the reference wheel speed of each of the front left, front right, rear left and rear right wheels based upon the vehicle body gravity center speed, steering angle, slip angle of vehicle body, yaw rate, a half track of a corresponding wheel, and a half wheel base of a corresponding wheel as follows:Vmfl=Vbc*cos ( delta f- beta )- gamma *T*cos delta f+ gamma *sin delta f*Lf;Vmfr=Vbc*cos ( delta f- beta )+ gamma *Tfl*cos delta f+ gamma *sin delta f*Lf;Vmrl=Vbc*cos beta + gamma *TrlVmrr=Vbc*cos beta - gamma *Trr,wherein Vmfl, Vmfr, Vmrl and Vmrr are the reference wheel speed of front left, front right, rear left and rear right wheels, respectively, Vb is the vehicle body gravity center speed, delta f is the steering angle, beta is the vehicle body slip angle, gamma is the yaw rate, Tfl is a half track of the front left wheel, Tfr is a half track of the front right wheel, Trl is the half tred of the rear left wheel, Trr is the half track of the rear right wheel, Lf is the half wheel base of the front left and front right wheels. The half track of each wheel may desirably be modified against lateral biasing of the wheel tire due to centrifugal force of acting during turn of the vehicle.
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