Method of estimating quantities that represent state of vehicle
First Claim
1. A method of estimating quantities that represent the state of a vehicle, comprising the steps of:
- detecting a yaw rate and vehicle speed; and
calculating an equation by eliminating either one of unknown quantities of a front wheel cornering power and a rear-wheel cornering power from two equations, including said unknown quantities, comprising an equation of equilibrium for the force in the lateral direction of the vehicle and an equation of equilibrium for the moment around the vertical axis of the vehicle, and calculating a vehicle body sideslip angle using said obtained equation.
1 Assignment
0 Petitions
Accused Products
Abstract
A method is provided capable of improving the precision of estimating a vehicle body sideslip angle and values associated with the vehicle body sideslip angle using a simple and inexpensive method. The sideslip angle differential value unit calculates a vehicle body sideslip angle differential value by substituting a front wheel cornering power, which varies depending on the lateral acceleration output from the lateral acceleration sensor, detected values of the sensors, fixed physical quantities of the vehicle and known values, and the vehicle body sideslip angle calculated during the previous processing into a formula obtained by eliminating the rear wheel cornering power from an equation of equilibrium for the moment of the vehicle around the vertical axis and the equation of equilibrium for the force in the lateral direction of the vehicle.
11 Citations
7 Claims
-
1. A method of estimating quantities that represent the state of a vehicle, comprising the steps of:
-
detecting a yaw rate and vehicle speed; and
calculating an equation by eliminating either one of unknown quantities of a front wheel cornering power and a rear-wheel cornering power from two equations, including said unknown quantities, comprising an equation of equilibrium for the force in the lateral direction of the vehicle and an equation of equilibrium for the moment around the vertical axis of the vehicle, and calculating a vehicle body sideslip angle using said obtained equation. - View Dependent Claims (2)
-
-
3. A method of estimating quantities that represent the state of a vehicle, comprising the steps of:
-
detecting a yaw rate and vehicle speed;
calculating an equation by eliminating either one of unknown quantities of a front wheel cornering power and a rear-wheel cornering power from two equations, including said unknown quantities, comprising an equation of equilibrium for the force in the lateral direction of the vehicle and an equation of equilibrium for the moment around the vertical axis of the vehicle, and calculating a vehicle speed in the lateral direction using said equations; and
calculating a vehicle body sideslip angle using said vehicle speed in the lateral direction. - View Dependent Claims (4)
-
-
5. A method of estimating quantities that represent the state of a vehicle, comprising the steps of:
-
detecting a yaw rate and vehicle speed; and
calculating an equation by eliminating either one of unknown quantities of a front wheel tire lateral force or the rear-wheel lateral force from two equations, including said unknown quantities, comprising an equation of equilibrium for the force in the lateral direction of the vehicle and an equation of equilibrium for the moment around the vertical axis of the vehicle, and calculating a vehicle body sideslip angle using said obtained equation.
-
-
6. A method of estimating the quantities that represent a state of a vehicle, comprising the steps of:
-
detecting a yaw rate and vehicle speed;
calculating an equation by eliminating either one of unknown quantities of variables that determine the sideslip angle of the vehicle body and the characteristics of the front wheels and variables that determine the characteristics of the rear-wheels from two equations, including said unknown quantities, comprising an equation of equilibrium for the force in the lateral direction of the vehicle and an equation of equilibrium for the moment around the vertical axis of the vehicle, and calculating a vehicle body sideslip angle using said obtained equation. - View Dependent Claims (7)
-
Specification