| 摘要 |
PURPOSE:To aim at the shortening of computation time, by setting a differential equation and a transmission characteristic parameter available at time of estimating a vehicle kinetic state, down to such ones as not to be varied by a car speed. CONSTITUTION:On the basis of the steered variable thetas detected by a wheelhandle steered variable detecting device 101, the car speed V detected by a car speed detecting device 102 and the kinetic state quantity (y) detected by a kinetic state quantity detecting device 103, an expansion value operational device 104 performs operation related to the car speed V and also operation related to time. Next, extended input value xsi and extended response value etaof an expansion differential equation to be led out of a state equation of the vehicle are found. And, a parameter correcting device 105 constitutes the expansion differential equation uninclusive of the car speed with a parameter fixing method on the basis of the extended input value xsi and the extended response value eta, finding the correction value of a parameter theta. |
