Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Patent
1996-03-28
1998-06-09
Zanelli, Michael
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
701 41, B62D 600, G06F 1900
Patent
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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Toyota Jidosha & Kabushiki Kaisha
Zanelli Michael
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