| 摘要 |
PURPOSE:To enable at least two condition quantities to be estimated in good accuracy by performing the correction corresponding to a road surface in its cross direction tilt being based on the deviation of an estimating value from the detecting value in cross angular acceleration serving as the output amount of 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 cross acceleration of a vehicle generated in its cross direction are estimated and calculated. While a cross acceleration detecting means D, directly detecting the cross acceleration, is provided, and being based on the deviation of a detecting value from the estimating value in the cross acceleration, leading particulars of the vehicle and the aerodynamic characteristic of the vehicle, a disturbance correcting means E corrects an error of a condition quantity estimating value of the motion estimating arithmetic means C generated by tilting of a road surface in its cross direction. And 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. |
