| 摘要 |
PURPOSE: To improve estimation precision of skidding condition quantity by reducing the accumulation of errors by integrating operation to improve estimation precision of a cant of a road surface. CONSTITUTION: A vehicle skidding condition quantity detection device 1-2 comprises a skidding physical quantity computing block 30 to operate skidding physical quantity of a vehicle by inegrating operation for parameters of a car speed V, a yaw rateγ, and a side acceleration Gy, a skidding physical quantity estimation block 32 to estimate skidding physical quantity of the vehicle based on a vehicle model for detected vehicle condition quantity as an inputted variable, and an integration time constant setting block 34 which sets an integration time constant of integrating operation to be large when turning action of the vehicle is unstable. The device 12 finally operates the skidding physical quantity by a final computing block 36 based on the skidding physical quantity operated by the skidding physical quantity computing block 30 and the skidding physical quantity estimated by the skidding physical quantity estimation block 32.
|
