Apparatus for slip angle estimation in wheeled vehicle

摘要

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.