System for monitoring vehicular slip angle.

摘要

A slip angle monitoring system directly compares an absolute value of a lateral acceleration ( ¦ Y sec ¦ ) with an experimentarily derived given value which serves as a slip criterion causing a slip angle on a vehicle. Slip angle is set at zero while the absolute value of the lateral acceleration is smaller than or equal to the given value. On the other hand, when the absolute value is greater than the given value, the slip angle ( theta 1 or theta 2) is derived by dividing the lateral acceleration by the longitudinal acceleration or by taking minus one power of tangent of quotient dividing the lateral acceleration by the longitudinal acceleration.