Apparatus for determining an estimated quantity of a state of motion of a vehicle

摘要

A vehicle state estimating apparatus includes a slip-angle determining unit which determines a slip angle of a wheel of a vehicle. A friction-coefficient determining unit determines a friction coefficient between a tire of the wheel and a road. A tire characteristics unit generates a lateral force of the wheel from the slip angle and the friction coefficient based on predetermined tire characteristics. A vehicle-state estimating unit determines an estimated quantity of a state of motion of the vehicle based on the lateral force output by the tire characteristics unit. A vehicle-state observing unit detects an observed quantity for the estimated quantity determined by the vehicle-state estimating unit. A friction-coefficient correcting unit corrects the friction coefficient determined by the friction-coefficient determining unit, based on a difference between the observed quantity and the estimated quantity, so that the lateral force generated by the tire characteristics unit is corrected by the corrected friction coefficient.