| 摘要 |
PURPOSE: To accurately estimate motion properties, impossible or difficult to be detected, in the motion properties, changing with the turning of a vehicle, by continuously and adequately correcting factors related to cornering power in an observer. CONSTITUTION: An observer 1 is set which is including the turning movement model 1a of a vehicle wherein physical quantity, expressing the steering angle change of a vehicle, is adopted as input variables u1 and u2, and also plural motion properties, changing with the turning of the vehicle are adopted as condition variables x1 and x2. Also, by using any one of both the variables x1 and x2, the other moving condition quantity z*, different from a motion property in accordance with this one, is calculated by an estimation computing element 2, and also a motion property (z), same as this one, is detected by a sensor, etc., to be inputted. Moreover, a correction value α, continuously changing due to the difference between both the quantities z* and z, is calculated to correct a factor, changing relating to cornering power in a system matrix, is corrected. That is, an appropriate correction value α for correcting cornering power is calculated by a correction value computing element 3. |
