| 摘要 |
PURPOSE:To easily detect a slip angle of a vehicle and simply constitute a suspension, etc., using an apparatus for estimating by obtaining a ratio in wheel speed difference between front and rear wheels and between right and left wheels and estimating the ratio as the slip angle. CONSTITUTION:A means 1 detects wheel speeds of respective front, rear, right and left wheels of a vehicle. Based on the detected respective wheel speeds, a first means 2 detects difference in wheel speeds between the front wheels and the rear wheels as well as a second means 3 detects difference in wheel speeds between the right wheels and the left wheels. Further a means 4 detects a ratio in wheel speed difference between the front & rear wheels and the right & left wheels. The detected ratio in the wheel speed difference is estimated as a slip angle. On the other hand, a means 6 detects roll stiffness (distribution ratio) of the front and rear wheels as the need arises. In addition the roll stiffness (distribution ratio) is changed by a mechanism 5 based on the ratio of the respective wheel speed difference. |
