Patent ID: 9594094
Date: 2017-03-14
CPC Classifications: B60T,B60W,B60Y,B62J,B62K,G01C,G01P,G07C

Claim:
1. A lateral force estimation system for a vehicle that includes a plurality of wheels and turns in a tilted posture with respect to a ground surface, the lateral force estimation system comprising: a lateral acceleration detector that detects lateral acceleration at a predetermined position of the vehicle; a roll angular acceleration detector that detects roll angular acceleration of the vehicle; a yaw angular acceleration detector that detects yaw angular acceleration of the vehicle; a roll angle detector that detects a roll angle of the vehicle; a storage that stores a position of a center of gravity of the vehicle and a mass of the vehicle; a ground surface position lateral acceleration calculator that calculates acceleration exerted in a direction perpendicular or substantially perpendicular to a front-and-rear direction of the vehicle and parallel or substantially parallel to a ground surface at an intersection position of a straight line passing through the center of gravity of the vehicle and parallel or substantially parallel to a top-and-bottom direction of the vehicle with the ground surface as a ground surface position lateral acceleration based on the lateral acceleration detected by the lateral acceleration detector, the roll angular acceleration detected by the roll angular acceleration detector, the yaw angular acceleration detected by the yaw angular acceleration detector, the roll angle detected by the roll angle detector, and the position of the center of gravity of the vehicle stored in the storage; and a vehicle lateral force calculator that calculates a sum of lateral forces exerted on the plurality of wheels as a vehicle lateral force based on the roll angle detected by the roll angle detector, the roll angular acceleration detected by the roll angular acceleration detector, the position of the center of gravity and the mass of the vehicle stored in the storage, and the ground surface position lateral acceleration calculated by the ground surface position lateral acceleration calculator.