Patent ID: 7184868

Claim:
A vehicle dynamics behavior reproduction system for adapting cornering stiffness to driving situation of a motor vehicle in order to describe accurately behavior of the motor vehicle on the basis of various information derived from outputs of on-vehicle sensors without being influenced by said driving situation of the motor vehicle, comprising: vertical wheel force arithmetic means for arithmetically determining a load applied to each of wheels of said motor vehicle as a vertical wheel force; lateral wheel force arithmetic means for arithmetically determining a lateral wheel force acting on each of said wheels; cornering stiffness adaptation means for effectuating adaptation of the cornering stiffness at each of said wheels to said driving situation; a state space model/observer unit for determining solutions of simultaneous differential equations relating to a dynamics theory of the motor vehicle for calculating variables involved in said dynamics theory; a selector for selecting a specific signal as required from signals representing said solutions generated by said state space model/observer unit; delay means for delaying said specific signal on a predetermined unitary time basis; and tire side slip angle arithmetic means for arithmetically determining a tire side slip angle at each of said wheels in view of said driving situation, wherein said state space model/observer unit includes a state space observer designed for determining variables which can not straightforwardly be measured.