Apparatus for determining an estimated quantity of a state of motion of a vehicle
First Claim
1. An apparatus for determining an estimated quantity of a state of motion of a vehicle, comprising:
- slip-angle determining means for determining a slip angle of a wheel of the vehicle;
friction-coefficient determining means for determining a friction coefficient between a tire of the wheel and a road;
tire characteristics means for generating a lateral force on the wheel from the slip angle and the friction coefficient based on predetermined tire characteristics;
vehicle-state estimating means for determining an estimated quantity of the state of motion of the vehicle based on the lateral force from said tire characteristics means;
vehicle-state observing means for detecting an observed quantity for the estimated quantity determined by said vehicle-state estimating means; and
friction-coefficient correcting means for correcting the friction coefficient determined by said friction-coefficient determining means, based on a difference between the observed quantity and the estimated quantity, so that the lateral force output from said tire characteristics means is corrected by said corrected friction coefficient.
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Accused Products
Abstract
A vehicle state estimating apparatus includes a slip-angle determining unit which determines a slip angle of a wheel of a vehicle. A friction-coefficient determining unit determines a friction coefficient between a tire of the wheel and a road. A tire characteristics unit generates a lateral force of the wheel from the slip angle and the friction coefficient based on predetermined tire characteristics. A vehicle-state estimating unit determines an estimated quantity of a state of motion of the vehicle based on the lateral force output by the tire characteristics unit. A vehicle-state observing unit detects an observed quantity for the estimated quantity determined by the vehicle-state estimating unit. A friction-coefficient correcting unit corrects the friction coefficient determined by the friction-coefficient determining unit, based on a difference between the observed quantity and the estimated quantity, so that the lateral force generated by the tire characteristics unit is corrected by the corrected friction coefficient.
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Citations
10 Claims
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1. An apparatus for determining an estimated quantity of a state of motion of a vehicle, comprising:
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slip-angle determining means for determining a slip angle of a wheel of the vehicle; friction-coefficient determining means for determining a friction coefficient between a tire of the wheel and a road; tire characteristics means for generating a lateral force on the wheel from the slip angle and the friction coefficient based on predetermined tire characteristics; vehicle-state estimating means for determining an estimated quantity of the state of motion of the vehicle based on the lateral force from said tire characteristics means; vehicle-state observing means for detecting an observed quantity for the estimated quantity determined by said vehicle-state estimating means; and friction-coefficient correcting means for correcting the friction coefficient determined by said friction-coefficient determining means, based on a difference between the observed quantity and the estimated quantity, so that the lateral force output from said tire characteristics means is corrected by said corrected friction coefficient. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of determining an estimated quantity of a state of motion of a vehicle, comprising steps of:
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determining a slip angle of a wheel of the vehicle; determining a friction coefficient between a tire of the wheel and a road; generating a lateral force of the wheel from the slip angle and the friction coefficient based on predetermined tire characteristics; determining an estimated quantity of the state of motion of the vehicle based on said lateral force; detecting an observed quantity for said estimated quantity based on a signal from a sensor on the vehicle; and determining a corrected friction coefficient based on a difference between the observed quantity and the estimated quantity, so that the lateral force generated based on the predetermined tire characteristics is corrected by said corrected friction coefficient. - View Dependent Claims (9, 10)
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Specification