| 摘要 |
PURPOSE:To improve the accuracy of assumption by a device which assumes vehicle body slip angle beta at the center of gravity of the vehicle. CONSTITUTION:This device includes a sensor 40 which detects lateral acceleration Gy1 of the center of gravity, a sensor 42 which detects lateral acceleration of a point that is forward from the center of gravity by a distance (s), a sensor 34 which detects the vehicle speed V, a sensor 36 which detects the yaw rate gamma, and a controller 50. The controller 50 assumes vehicle body slip angle betacontinuously, and obtains YM/IZ from Gy1, Gy2 and s, where YM denotes yawing moment and IZ -- yaw moment of inertia. Present value beta(i) of beta is assumed by composing an observer against an observable linear constant system, in which beta and gamma assumed relative to the plane motion of the vehicle are state variables, and Gy1/V and YM/IZ-beta(i-1) are input variables, where beta(i-1) means assumed previous value of beta. |
