To provide a technique for suppressing the vibration of a vehicle caused by the gyro moment of wheels.
This vehicle controller detects the stroke speed of a suspension, the speed of a member on a spring positioned above a wheel, and the angular velocity in the rolling direction of the member on the spring by means of sensors (S1-S3), and estimates the angular velocity of the camber angle of a wheel, based on these detected values (S4). Then, the gyro moment about a king pin shaft is estimated, based on the angular velocity of transit rotation of a wheel detected by the sensor (S5) and the angular velocity of the camber angle of a wheel (S6). This provides computation of the wheel braking force for suppressing its vibration, based on the gyro moment (S7) estimated an controls the corresponding in-wheel motor (S8 and S9).
COPYRIGHT: (C)2006,JPO&NCIPI
| JP591607A |
| WO2003095261A1 |
Yusuke Murata
Tomoyuki Miki