Estimating apparatus for movement state quantity of car

Abstract

Abstract PURPOSE:To improve the control precision by comparing the estimation value of the movement state quantity corresponding to the steering angle and the car speed which are obtain through a delaying means by the calculation for the model of a car, with the actual value of the movement state quantity after the removel of the noise component by a filter means and correcting the dimensions of the car. CONSTITUTION:The steering angle thetas detected by a detecting means 100 is outputted, delayed by a prescribed time by a delaying means 104, and an estimating means 105 estimates the movement state quantity corresponding to the steering angle thetas* after delay and the car speed V detected by a detecting means 101 by the calculation on the basis of one car model or more previously set. Then, an actual value determining means 102 detects at least one actual value among the movement quantity of the car, and a filter means 103 removes the noise component included in the actual value M of the movement quantity of the car which is detected by the detecting means 102. Then, a comparison means 106 compares the actual value M* after the removal of the noise component by the filter means 103 and the estimated value M through the estimation by an estimating means 105, and a correcting means 107 corrects the dimensions of the car which are obtained by the estimating means 104 on the basis of the result of the comparison, and the control precision is improved.

Inventors

• 👤 Takeshi Ito
• 👤 健 伊藤
• 👤 Taketoshi Kawabe
• 👤 川辺　武俊

Bibliographic Details