Dual-tracked vehicle`s driving condition determining method, involves using tire or wheel forces in vehicle-transverse direction, direction of vehicle-vertical axis and direction of longitudinal direction as value measured at vehicle

摘要

The method involves estimating a side slip angle by a mathematical model on the basis of an actual value measured at a vehicle and by an observer valuation based on the model. Tire forces or wheel forces in a vehicle-transverse direction, a direction of vehicle-vertical axis and a direction of vehicle-longitudinal direction are used as the value measured at the vehicle. Yaw acceleration of the vehicle is determined by formation of moment equilibrium around the vehicle-vertical axis in consideration of an estimated moment of inertia of the vehicle.