| 摘要 |
PURPOSE:To enable at least two condition quantities to be accurately estimated by performing the correction corresponding to cross wind disturbance being based on the deviation of an estimating value from its detection value in yaw angular acceleration serving as the output amount in a vehicle motion system. CONSTITUTION:A steering angle detecting means A and a car speed detecting means B are provided, and their detecting information is input to a motion estimating arithmetic means C. Here being based on a vehicle model described in an equation of motion, an estimating amount of at least two condition quantities and an estimating value of yaw angular acceleration, generated in a vehicle, are estimated and calculated. While a yaw angular acceleration detecting means D, directly detecting yaw angular acceleration, is provided, and by a disturbance correcting means E being based on the deviation of a detecting value from an estimating value of the yaw angular acceleration, vehicle items and the vehicle aerodynamic characteristic, an error is corrected of a condition quantity estimating value of the motion estimating arithmetic means C generated by cross wind disturbance. In accordance with the condition quantity estimating value after this correction, the information can be utilized for a steering angle control and/or a suspension control. |
