| 摘要 |
A vehicle slip angle measuring device includes an approximate calculation block for deriving an approximate value of a vehicle centroid slip angle by use of an approximate expression derived from a linear two-degree-of-freedom vehicle model. The approximate value is derived based on outputs from a steering wheel sensor, vehicle velocity sensor and yaw angular velocity sensor. The device further includes a preprocessing block for preprocessing outputs from the above three sensors, longitudinal acceleration sensor and lateral acceleration sensor to create input information. Finally, the device includes a learned neural network for receiving the approximate value and input information and for outputting a correction value corresponding to a deviation between an actual slip angle and the approximate value. The correction value from the neural network is added to the approximate value from the approximate calculation block to derive a precise vehicle centroid slip angle.
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