Patent ID: 6128569
Filing Date: 2000-10-03
Classification: B60T,B60W

Abstract:
A method for estimating a sideslip angle for an automotive vehicle, comprising the steps of:a) detecting a yaw rate (.DELTA..psi.) of the vehicle;b) detecting a lateral acceleration (.DELTA..DELTA.Y) of the vehicle;c) detecting a vehicle velocity (V) of the vehicle;d) calculating an estimated value (PC.sub.2) of a cornering power of a rear road wheel in a bicycle model on the basis of the detected yaw rate (.DELTA..psi.), lateral acceleration (.DELTA..DELTA.Y) of the vehicle, and the vehicle velocity (V) of the vehicle;e) calculating an equation representing a relationship between the lateral acceleration (.DELTA..DELTA.Y) of the vehicle and the yaw rate (.DELTA..psi.) thereof, the equation being derived from a first transfer function of the yaw rate (.DELTA..psi.) of the vehicle with respect to a steered angle (.delta.) derived from the bicycle model of the vehicle and a second transfer function of the side slip angle (.beta.) of the vehicle with respect to the steered angle (.delta.) derived from the bicycle model of the vehicle; andf) calculating an estimated value (P.beta.) of the sideslip angle of the vehicle from the equation representing the relationship between the lateral acceleration (.DELTA..DELTA.Y) and the yaw rate (.DELTA..psi.) calculated at the step e) and from the estimated value (PC.sub.2) of the cornering power of the rear road wheel calculated at the step d).