An device of estimating slip angle of vehicle wheel comprises an attitude-toward-road surface estimation section 121 that uses a series of distances to measurement points on a road surface to estimate vehicle-body-road-surface coordinate conversion information(VCCI) for conversion from a vehicle-body coordinate system to a road-surface coordinate system ,an on-road-surface inertia quantity calculation section 122 that removes a gravity acceleration component from the vehicle-body inertia quantity to obtain inertia quantity caused by motion of a vehicle body 103 and uses the VCCI to convert from the inertia quantity caused by the motion of the vehicle body 103 to the road-surface coordinate system, and a wheel slip angle estimation section 123 that a wheel velocity vector along an inclination direction of the vehicle and a wheel acceleration, and estimates a sideslip angle of the vehicle wheel on the basis of a difference between the wheel acceleration vector and the acceleration vector converted to the road-surface coordinate system.
DEVICE AND METHOD FOR ESTIMATING SLIP ANGLE OF VEHICLE WHEEL
VORRICHTUNG UND VERFAHREN ZUR SCHÄTZUNG DES SCHRÄGLAUFWINKELS EINES FAHRZEUGRADS
DISPOSITIF ET PROCÉDÉ POUR ESTIMER L'ANGLE DE GLISSEMENT D'UNE ROUE DE VÉHICULE
2020-10-21
Patent
Electronic Resource
English
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