| 摘要 |
PURPOSE:To increase the vehicle-body sideslip angle estimation precision in an apparatus for estimating the vehicle-body side-slip angle at a gravity center of the vehicle. CONSTITUTION:A vehicle-body side-slip angle estimation apparatus comprises a sensor 40 for sensing a lateral acceleration G of the vehicle gravity center, a sensor 34 for sensing a vehicle speed V, a sensor 36 for sensing a yaw rate gamma, and a controller 50. The controller 50 sequentially estimates a vehicle side-slip angle (beta) to procure a vehicle yawing moment YM by using, for example, corner ring powers Cbeta, Cgamma. On the other hand, by assuming the presence of an observer with respect to an observable linear fixed coefficient system in which the betaand gamma which are estimated concerning a plan movement of the vehicle are respectively state variables; the values G y/V and YM/Iz-beta (i-1) (Iz represents a yaw inertia moment and beta (i-1) represents a previous estimation value of betaare respectively input variables; and gamma represents an output variable), a present value beta (i) of beta is estimated.) |
