| 摘要 |
PURPOSE:To mount on a vehicle a vehicle body gravitational-center slip angle measuring device suitable for use in the rear wheel steering control unit of a front-and-rear wheel steering type vehicle and to perform rear wheel steering control according to changes in vehicle behavior due to both the influence of yaw direction on the motion of the vehicle and changes in road surface mu. CONSTITUTION:A vehicle body gravitational-center slip angle measuring device performs leaning with outputs from a vehicle speed detection means 15, a road surface friction factor detection means 16 and an estimate gravitational center slip angle computing means as input values, and with the corresponding cornering power as teaching data. Thus the device is formed with a learned neural network 27 which, when data from the vehicle speed detection means 15, the road surface friction factor detection means 16 and the estimate gravitational-center slip angle computing means are input thereto, outputs the corresponding cornering power. |
