Patent ID: 7844383

Claim:
A sideslip angle estimation apparatus for estimating a sideslip angle of a vehicle having a vehicle body, the apparatus comprising: a controller including: an offset angle estimation section operable to estimate an offset angle between a direction of a centrifugal force acting on the vehicle body and a lateral direction of the vehicle body, the centrifugal force being a force exerted on the vehicle body toward an outside from a turning center during a cornering act and the direction of the centrifugal force calculated based on acceleration values detected in two different directions with respect to the vehicle body; a sideslip angle estimation section operable to estimate a sideslip angle using an integration function incorporating a quantity associated with a running state of the vehicle, the sideslip angle being between a longitudinal direction of the vehicle body and a direction of travel of the vehicle; and a first feedback compensation section operable to apply feedback compensation to the sideslip angle, the feedback compensation based on applying a variable gain to a difference between the sideslip angle and the offset angle.