Device for estimating side slide velocity of vehicle compatible with rolling and cant
First Claim
1. A device for estimating side slide velocity of a vehicle having a vehicle body and front and rear wheels, comprising:
- a means for detecting longitudinal velocity of the vehicle body;
a means for detecting yaw rate of the vehicle body about a center of gravity thereof;
a means for detecting lateral acceleration of the vehicle body at the center of gravity thereof; and
a means for integrating on time basis difference between the lateral acceleration detected by said lateral acceleration detection means and product of the yaw rate detected by said yaw rate detection means and the longitudinal velocity detected by said longitudinal velocity detection means such that only high frequency components thereof are integrated to produce a side slide velocity signal.
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Abstract
A device for estimating side slide velocity of a vehicle, comprising: a component for detecting longitudinal velocity of the vehicle body; a component for detecting yaw rate of the vehicle body about its center of gravity; a component for detecting lateral acceleration of the vehicle body at the center of gravity; and a component for integrating on time basis difference between the lateral acceleration detected by the lateral acceleration detection component and product of the yaw rate detected by the yaw rate detection component and the longitudinal velocity detected by the longitudinal velocity detection component such that only high frequency components thereof are integrated to produce a side slide velocity signal. The device may further comprise a component for estimating slip angle of at least either the front wheels or the rear wheels and converting the estimated slip angle into side slide velocity of the vehicle body at its center of gravity to produce a side slide velocity signal; and a component for summing the side slide velocity signal produced by the integration component and the side slide velocity signal produced by the slip angle estimation and conversion component to produce a final side slide velocity signal.
79 Citations
5 Claims
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1. A device for estimating side slide velocity of a vehicle having a vehicle body and front and rear wheels, comprising:
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a means for detecting longitudinal velocity of the vehicle body; a means for detecting yaw rate of the vehicle body about a center of gravity thereof; a means for detecting lateral acceleration of the vehicle body at the center of gravity thereof; and a means for integrating on time basis difference between the lateral acceleration detected by said lateral acceleration detection means and product of the yaw rate detected by said yaw rate detection means and the longitudinal velocity detected by said longitudinal velocity detection means such that only high frequency components thereof are integrated to produce a side slide velocity signal. - View Dependent Claims (2, 3, 4, 5)
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Specification