Apparatus for slip angle estimation in wheeled vehicle

Assignee: Toyota Motor Corp

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Filing: 1991-02-19

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Granted: —

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Expires: 2011-02-19

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Abstract

Abstract An apparatus for estimating a slip angle in a wheeled vehicle having a set of front road wheels (FW) and a set of rear road wheels (RW), including the same kind of wheel speed sensors (70-73) arranged to detect each rotation speed of the road wheels for producing wheel speed-signals respectively indicative of the detected rotation speeds of the road wheels, and a microcomputer responsive to the wheel speed signals from the sensors for calculating a first difference in speed between the front and rear road wheels and a second difference in speed between the left and right road wheels and for calculating a ratio of the first difference in speed relative to the second difference in speed for estimating the calculated ratio as a slip angle of the vehicle.

Inventors

👤 Masaki Yamamoto

Bibliographic Details

Application Number —

Jurisdiction EP

Data Source google_patents

Last Synchronized 2026-11-08 03:22

CPC Classifications

B; B60; B60R; B60R16/00; B60R16/02; B60R16/023; B60G; B60G17/00; B60G17/015; B60G17/0195; B62; B62D; B62D7/00; B62D7/06; B62D7/14; B62D7/15; B62D7/159; B60G2800/00; B60G2800/01; B60G2800/012; B60G2800/0122; B60G2800/18; B60G2800/21; B60G2800/214; B60G2800/22

Claims Analysis

Total Claims: 4

Claim 1

Independent Claim 122 words

An apparatus for estimating a slip angle in a wheeled vehicle having a set of front road wheels and a set of rear road wheels, comprising: wheel speed detecting means (70-73) for detecting each rotation speed of the road wheels for producing wheel speed signals respectively indicative of the detected rotation speeds of the road wheels; and means (310) responsive to said wheel speed signals for calculating a first difference in speed between the front and rear road wheels and a second difference in speed between the left and right road wheels and for calculating a ratio of the first difference in speed relative to the second difference in speed for estimating the calculated ratio as a slip angle of the vehicle.

Claim 2

Dependent Claim 37 words

An apparatus as claimed in Claim 1, further comprising means (400, 500) for controlling a distribution ratio of roll stiffness at the front and rear road wheels in accordance with the estimated slip angle of the vehicle.

Claim 3

Dependent Claim 59 words

An apparatus as claimed in Claim 1, wherein said means responsive to said wheel speed signals is arranged to calculate a first difference in speed between the front and rear road wheels at one side of the vehicle and a second difference in speed of the left and right road wheels at the front or rear of the vehicle.

Claim 4

Dependent Claim 116 words

An apparatus as claimed in Claim 1, wherein the vehicle is provided with a front-wheel steering mechanism cooperable with a rear-wheel steering mechanism, and wherein said apparatus further comprises means (315) for calculating a yaw-rate of the vehicle based on the second difference in speed between the left and right road wheels, means (600) for calculating an average value of the detected rotation speeds of the road wheels for estimating the calculated average value as a travel speed of the vehicle, and means (700, 800) for calculating an optimum rear-wheel steering angle in relation to the estimated slip angle and calculated yaw-rate in accordance with the estimated travel speed for control of the rear-wheel steering mechanism.

References Cited (Backward Citations)

US4828283A Cited

DE3545715A1 Cited

EP0296756A2 Cited

EP0315352A1 Cited

EP0316932A2 Cited

US4867466A Cited

DE3910002A1 Cited

EP0338588A2 Cited

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