| 摘要 |
<p>An estimation method of estimating a lateral slip angle ( beta *) and a yaw rate ( gamma *) of a wheeled vehicle on a basis of a state equation of an observer (1) to be applied with a real yaw rate ( gamma ) as a reference input, the observer being designed on a basis of a turning movement model (10) which defines a steer-angle ( delta f, delta r) of the vehicle as an input variable and defines the lateral slip angle and the yaw rate as a state variable, wherein a forward speed (Vx), a steer-angle ( delta f, delta r), a yaw rate ( gamma ) and a lateral acceleration (Gy) of the vehicle are detected to estimate a lateral acceleration (Gy*) based on the lateral slip angle ( beta *) and yaw rate ( gamma *)calculated on a basis of the state equation of the observer and the detected forward speed (Vx), a correction coefficient ( alpha ) is calculated on a basis of a ratio of the detected lateral acceleration (Gy) and the estimated lateral acceleration (Gy*), and a factor of a cornering power (cp) defined in the state equation of the observer is multiplied by the calculated correction coefficient ( alpha ).</p> |
