The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 04, 1999
Filed:
Dec. 12, 1996
Yoshiki Fukada, Susono, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Abstract
A device for estimating slip angle of vehicle body of a vehicle, having: means for calculating yaw rate based upon such parameters as detected steering angle, vehicle speed, lateral acceleration and braking forces as variable parameters, the slip angle of the vehicle body estimated by the vehicle body slip angle estimation device, a first feedback factor multiplied to difference between the detected yaw rate and the yaw rate calculated by the yaw rate calculation means, and fixed parameters particular to the vehicle, such that the calculated yaw rate converges to the detected yaw rate; means for calculating slip angle of the vehicle body based upon such parameters as detected steering angle, vehicle speed, lateral acceleration, braking forces and yaw rate, the yaw rate calculated by the yaw rate calculation means, a second feedback factor multiplied to the difference between the detected yaw rate and the yaw rate calculated by the yaw rate calculation means, and fixed parameters particular to the vehicle, such that the calculated yaw rate converges to the detected yaw rate; means for detecting saturation index against the difference between a standard yaw rate based upon the calculations by the yaw rate calculation means and the detected yaw rate; and means for modifying the first and second feedback factors according to the saturation index such that non-linearity between lateral forces acting at the wheels and slip angles of the wheels is compensated for by the modification of the first and second feedback factors.