To detect vehicle traveilng on a bank road irrespective of road surface conditions, and to detect lateral acceleration and a sideslip angle with high precision.
On the basis of a steering angle δf, lateral acceleration y", yaw rate θ', and vehicle velocity V, a sideslip angle is estimated by a vehicle body sideslip angle estimating circuit 30, and is differentiated by a differentiator 12 to compute a slip angular velocity. A slip angular velocity is also detected by a slip angular velocity computing circuit 14, and the difference between both the slip angular velocities is computed by a subtracter 13. Since the slip angular velocity detected by the slip angular velocity computing circuit 14 contains an error component due to a graviational acceleration component in accordance with a road surface cant, a bank road is detected from the difference in the slip angular velocity by a bank road detecting circuit 18. When the bank road is detected, a difference Δy" between y" and multiplication of θ' and vehicle velocity V is outputted from a switcher 20, and is subtracted from the detected y" to be corrected by a subtracter 28. The vehicle body sideslip angle is estimated on the basis of the corrected y".
ASANO KATSUHIRO
AMANO YASUSHI
TOUTSU KENJI
NISHIO AKITAKA
AISIN SEIKI
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