Image Number 7 for United States Patent #6745112.
The precision of the estimations of the vehicle body sideslip angle and the values related to the vehicle body sideslip angle can be improved by a simple and inexpensive method. The improved method of estimating quantities that represent the vehicle state of a vehicle comprises the steps of detecting a yaw rate and vehicle speed and calculating a vehicle body sideslip angle using three equations, which comprises an equation of equilibrium for the force in the lateral direction of the vehicle and an equation of equilibrium for the moment around a vertical axis of the vehicle, and an equation for the physical relationships of the quantities that represent the state of the vehicle movement, and which include a vehicle sideslip angle, a front wheel cornering power, and a rear wheel cornering power as unknown values.
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