Method and apparatus for estimating disturbance acting on vehicle tired wheel based on wheel angular velocity and equation of state
First Claim
1. A disturbance detecting apparatus for detecting a disturbance acting on a tired wheel of a motor vehicle, comprising:
- an angular velocity detecting device for detecting an angular velocity of the tired wheel; and
a disturbance observer for estimating said disturbance acting on the tired wheel on the basis of at least said angular velocity of the tired wheel detected by said angular velocity detecting device, said disturbance observer estimating said disturbance as one of a plurality of variables in an equation of state indicative of a rotary motion of said tired wheel.
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Abstract
The invention is a method and apparatus wherein a disturbance acting on a tired wheel of a vehicle is estimated by a disturbance observer on the basis of the detected angular velocity of the wheel. In one form of the method, the wheel angular velocity is compensated for the disturbance, depending upon the amount of change of the wheel angular velocity caused by the disturbance. In another form of the method, the angular acceleration of the wheel as well as the disturbance is estimated by the observer, and the moment of inertia of the wheel is obtained according to a relationship between the estimated disturbance and angular acceleration of the wheel.
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Citations
26 Claims
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1. A disturbance detecting apparatus for detecting a disturbance acting on a tired wheel of a motor vehicle, comprising:
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an angular velocity detecting device for detecting an angular velocity of the tired wheel; and a disturbance observer for estimating said disturbance acting on the tired wheel on the basis of at least said angular velocity of the tired wheel detected by said angular velocity detecting device, said disturbance observer estimating said disturbance as one of a plurality of variables in an equation of state indicative of a rotary motion of said tired wheel. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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Specification