Measuring and testing – Simulating operating condition – Marine
Patent
1996-11-05
1998-05-05
Dombroske, George M.
Measuring and testing
Simulating operating condition
Marine
364426015, 364426018, 364426025, G01M 1500
Patent
active
057476829
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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Dombroske George M.
Toyota Jidosha & Kabushiki Kaisha
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