| 摘要 |
PURPOSE:To obtain a necessary moving condition quantity of a vehicle without need for using plural sensing device by obtaining the moving condition quantity of a vehicle by estimation by means of a moving condition quantity estimating means. CONSTITUTION:A moving condition quantity estimating means 100 obtains the moving condition quantity of a vehicle by operation using a vehicle model 101. A normal moving condition quantity estimating means 103 obtains the moving condition quantity Ms of the vehicle at the time of normal rotation movement of the vehicle using the characteristic mode 104 of the vehicle in which the moving characteristic of the vehicle at the time of steady rotation movement is made a mathematical model. A comparison means 105 compares the detected value M of a vehicle moving condition quantity detected by a moving condition quantity detecting means 102 with the estimated value Ms of the moving condition quantity estimated by the steady moving condition quantity estimating means 103. An identification means 106 carries out the parameter identification of the characteristic model 104 based on the compared result obtained by the comparison means 105. A parameter correcting means 107 gives an identified parameter K to the moving condition quantity estimating means 100.
|
