| 摘要 |
PURPOSE:To enable at least two condition quantities to be accurately estimated by performing the correction corresponding to a cross wind and a road surface in its cross directional tilt being based on the deviation between an estimated value and a detected value in the output amount of at least two vehicle motions. 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 estimation 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 two estimating values of output amount are estimated and calculated. While providing an output amount detecting means D detecting an output amount corresponding to each output amount estimating value, being based on the deviation between a detecting value and an estimating value of the output amount, a disturbance correcting means E corrects an error of a condition quantity estimating value in the motion estimation arithmetic means C generated by at least one of the tilt of a road surface in a cross direction and the cross wind. And in accordance with a condition quantity estimating value after this correction, the information can be utilized for a steering angle control and/or a suspension control. |
