Patent Document ID: 5579245
Application ID: 08191082
Patent Flag: 1

Claim One:
1. A vehicle slip angle measuring method, comprising steps of: (a) detecting, using at least one sensor of the vehicle, a steering state of front wheels of a vehicle; (b) detecting, using at least one sensor of the vehicle, a motion state of the vehicle; (c) deriving an approximate value of a vehicle slip angle at a centroid of the vehicle based on the front wheel steering state and the motion state, respectively detected in said steps (a) and (b); (d) supplying the front wheel steering state and the motion state, respectively detected in said steps (a) and (b) and the approximate value derived in said step (c) to a learned neural network, to estimate a correction value corresponding to a deviation between the approximate value and an actual value of the vehicle slip angle at the centroid of the vehicle; and (e) controlling the vehicle based upon a value derived by correcting the approximate value derived in said step (c), by using the correction value estimated in said step (d), as the vehicle slip angle at the centroid of the vehicle body.