Estimation method of movement state variable in turning of autom

Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration

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701 41, B62D 600, G06F 1900

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active

057651183

ABSTRACT:
An estimation method of estimating a lateral slip angle and a yaw rate or a wheeled vehicle on a basis of a state equation of an observer to be applied with a real yaw rate as a reference input, the observer being designed on a basis of a turning movement model which defines a steer-angle of the vehicle as an input variable and defines the lateral slip angle and the yaw rate as a state variable, wherein a forward speed, a steer-angle, a yaw rate and a lateral acceleration of the vehicle are detected to estimate a lateral acceleration based on the lateral slip angle and yaw rate calculated on a basis of the state equation of the observer and the detected forward speed, a correction coefficient is calculated on a basis of a ratio of the detected lateral acceleration and the estimated lateral acceleration, and a factor of a cornering power defined in the state equation of the observer is multiplied by the calculated correction coefficient.

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patent: 5268841 (1993-12-01), Mouri

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