SLIP RATE ESTIMATION DEVICE, AUTOMOBILE, SLIP RATE ESTIMATION METHOD, AND VEHICLE CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To estimate a slip rate of wheel with higher accuracy.;SOLUTION: An automobile 1A detects front and rear directional acceleration acting on the vehicle by a front and rear directional acceleration sensor 4 inclined in a front and rear direction by a set pitch angle γ to a floor surface of the vehicle body substantially in parallel to a horizontal plane, and calculates a road surface tilt angle θ according to an expression (1) using the total of detection values of driving/braking force sensors 3FR, 3FL, 3RR, and 3RL, and an output value of the front and rear directional acceleration sensor 4, and further calculates a slip rate λ of a wheel using an integral value of a travel direction acceleration α (travel direction acceleration) calculated by using the road surface tilt angle θ and a wheel speed ω of each wheel. In a normal vehicle traveling state, therefore, the automobile 1A more accurately estimates a slip rate from the travel direction acceleration α calculated by the road surface tilt angle θ because of highly accurately estimating the road surface tilt angle θ without using the integration while preventing the denominator sinγ of the expression (1) from becoming zero.;COPYRIGHT: (C)2009,JPO&INPIT