JP5137792B2 - Vehicle lateral force disturbance estimation device - Google Patents

Description

  The present invention relates to a vehicle lateral force disturbance estimation device that estimates a lateral disturbance applied to a vehicle.

  In the conventional lateral force disturbance estimation device, the vehicle is driven laterally by lateral force among the disturbances applied in the lateral direction of the vehicle by a fourth-order observer using the actual yaw rate, steering angle, vehicle speed and lateral acceleration detected by each sensor. The lateral force disturbance to be moved in the direction and the lateral gradient disturbance acting on the vehicle due to the lateral inclination of the road surface are separately estimated (for example, see Patent Document 1).

  In other conventional devices, a seventh-order observer uses the actual yaw rate, the steering angle, the vehicle speed, the lateral acceleration, and the steering assist torque applied to the steering system detected by each sensor in the lateral direction of the vehicle. Among the applied disturbances, there are a lateral force disturbance that tries to move the vehicle laterally by lateral force, a yaw moment disturbance that tries to rotate the vehicle, and a lateral gradient disturbance that acts on the vehicle due to the lateral inclination of the road surface. The estimation is performed separately (see, for example, Patent Document 2).

JP 2005-239010 A Japanese Patent Laying-Open No. 2005-239012

  In the conventional vehicle lateral force disturbance estimation device, the lateral force disturbance is estimated by a fourth-order observer or a seventh-order observer. Therefore, a high-order observer requires a large amount of calculation, so an expensive processor is required for implementation. There was a problem of becoming.

  The present invention has been made to solve the above-described problems. By using the road surface lateral gradient detected by the lateral gradient disturbance detection means as input information to the observer, the order of the observer is reduced. An object of the present invention is to obtain a vehicle lateral force disturbance estimation device with a reduced calculation amount.

A vehicle lateral force disturbance estimation device according to the present invention includes a steering angle detection unit that detects a steering angle of a vehicle, a lateral acceleration detection unit that detects a lateral acceleration of the vehicle, a yaw rate detection unit that detects a yaw rate of the vehicle, Vehicle speed detecting means for detecting the vehicle speed, road surface lateral gradient detecting means for detecting the road surface lateral gradient of the road surface on which the vehicle is traveling, and lateral force disturbance estimating means for estimating the lateral force disturbance generated in the vehicle, A vehicle lateral force disturbance estimation device provided with a lateral force disturbance estimation means, a yaw moment disturbance coefficient storage unit in which a relational expression or table of yaw moment disturbance generated in a vehicle and lateral force disturbance is stored in advance. When having a yaw moment disturbance calculator for calculating a yaw moment disturbance, a steering angle, lateral acceleration, yaw rate, and the detected values of the vehicle speed and road surface transverse slope, the yaw moment disturbance factor Symbol By using the yaw moment disturbance coefficient given from parts, with estimates the lateral force disturbance, the yaw moment disturbance calculation unit, by using the estimated value of the lateral force disturbance and the yaw moment disturbance factor, calculating a yaw moment disturbance To do .

  According to this invention, by using the road surface lateral gradient detected by the road surface lateral gradient detection means as input information to the observer, the order of the observer can be lowered, and the amount of calculation required for estimating the lateral force disturbance Can be reduced.

Embodiment 1 FIG.
The first embodiment of the present invention will be described below with reference to FIGS.
1 is a block diagram showing a schematic configuration of a vehicle lateral force disturbance estimation apparatus according to Embodiment 1 of the present invention.

  In FIG. 1, a vehicle 12 includes a left front wheel 10a, a right front wheel 10b, a left rear wheel 10c and a right rear wheel 10d, and a steering wheel 11. Left and right front wheels 10a and 10b, which are steered wheels of the vehicle 12, The steering wheel 11 is steered by being rotated by the driver.

  The vehicle 12 includes a steering angle sensor 21 that detects the steering angle θ of the steering wheel 11, a lateral acceleration sensor 22 that detects the lateral acceleration Ay of the vehicle 12, a yaw rate sensor 23 that detects the actual yaw rate γ of the vehicle 12, A vehicle speed sensor 24 that detects the speed (hereinafter referred to as “vehicle speed”) V of the vehicle 12 and a road surface lateral gradient calculation unit 25 that calculates the road surface lateral gradient φb of the road surface on which the vehicle 12 travels are provided.

  Further, the vehicle 12 is provided with a lateral force disturbance estimating means 30 in association with the sensors 21 to 24 and the road surface lateral gradient calculating unit 25.

  The road surface lateral gradient calculation unit 25 calculates the road surface lateral gradient φb (= γV−Ay) using the lateral acceleration Ay of the vehicle 12, the actual yaw rate γ of the vehicle 12, and the vehicle speed V, and further the road surface lateral gradient. Low-pass filter processing is applied to the calculated value of φb.

Here, the detection principle of the road surface lateral gradient φb of the road surface on which the vehicle 12 travels will be described with reference to the explanatory diagram of FIG.
As shown in FIG. 2, when the vehicle 12 is inclined due to the road surface lateral gradient, gravity is applied to the vehicle center of gravity (see double circle), and the lateral component of gravity appears as a detection value of the lateral acceleration sensor 22. Therefore, the road surface lateral gradient φb (corresponding to the lateral component of gravity) is obtained by using a value (γV−Ay) obtained by subtracting the actual lateral acceleration Ay from the integrated value of the actual yaw rate γ and the vehicle speed V (lateral acceleration due to driving behavior). Can be detected.

  1, the steering angle θ detected by the steering angle sensor 21, the lateral acceleration Ay detected by the lateral acceleration sensor 22, the actual yaw rate γ detected by the yaw rate sensor 23, the vehicle speed V detected by the vehicle speed sensor 24, and The road surface side gradient φb calculated by the road surface side gradient calculating unit 25 is input to the side force disturbance estimating means 30.

The lateral force disturbance estimation means 30 includes a yaw moment disturbance coefficient storage unit 31, an observer 32, and a yaw moment disturbance calculation unit 33 in order to estimate a disturbance applied in the lateral direction of the vehicle 12.
The yaw moment disturbance coefficient storage unit 31 stores a relationship between a lateral force disturbance (hereinafter referred to as “lateral force disturbance”) φw applied to the vehicle 12 and a yaw moment disturbance (hereinafter referred to as yaw moment disturbance) φm applied to the vehicle. The yaw moment disturbance coefficient lw is used as output information.

The observer 32 detects each detected value and calculated value (θ, Ay, γ, V, φb) input to the lateral force disturbance estimating means 30 and the yaw moment disturbance coefficient lw stored in the yaw moment disturbance coefficient storage unit 31. Are used to estimate the lateral force disturbance φw.
The yaw moment disturbance calculation unit 33 uses the lateral force disturbance φw estimated by the observer 32 and the yaw moment disturbance coefficient lw stored in the yaw moment disturbance coefficient storage unit 31 to convert the yaw moment disturbance φm into a lateral force disturbance. Calculated as an estimated value.

Next, the processing operation according to the first embodiment of the present invention shown in FIG. 1 will be described with reference to FIGS.
FIG. 3 is a flowchart showing the operation of the lateral force disturbance estimation means 30 and shows a processing procedure for estimating the lateral force disturbance applied to the vehicle 12.

In FIG. 3, first, the lateral force disturbance estimation means 30 reads input signals from the sensors 21 to 24 and the calculation unit 25 (step S <b> 10), and inputs the input signals (detected values and calculated values) to the observer 32.
Further, the yaw moment disturbance coefficient storage unit 31 reads the yaw moment disturbance coefficient lw (step S20) and inputs it to the observer 32.

FIG. 4 is an explanatory diagram showing the lateral force disturbance Fw that the vehicle 12 receives from the lateral direction. As a specific example, the vehicle 12 receives a crosswind. In this case, an actual yaw moment disturbance Nw also occurs at the center of gravity of the vehicle (see double circle).
At this time, the lateral force disturbance Fw and the actual yaw moment disturbance Nw received by the vehicle 12 use the aerodynamic lateral force coefficient Cy and the aerodynamic yaw moment coefficient Cn of the vehicle 12, the wheel base L, the air density ρ, and the wind speed ω, It is represented by the following formula (1).

In general, when the lateral force disturbance Fw occurs, the yaw moment disturbance Nw is generated due to a mismatch between the position where the lateral force disturbance Fw is generated and the position of the center of gravity of the vehicle.
For example, in FIG. 4, if the distance between the position where the lateral force disturbance Fw is generated and the center of gravity of the vehicle is lw (corresponding to the yaw moment disturbance coefficient), the actual yaw moment disturbance Nw generated by the side force disturbance Fw is (2)

  Therefore, when equation (1) is substituted into equation (2), distance lw (yaw moment disturbance coefficient) is expressed by equation (3) below.

FIGS. 5A and 5B are explanatory diagrams showing characteristics of the aerodynamic side force coefficient Cy and the aerodynamic yaw moment coefficient Cn with respect to the air-slip angle.
As can be seen from FIG. 5, the ratio of the aerodynamic lateral force coefficient Cy and the aerodynamic yaw moment coefficient Cn (= Cn / Cy) is substantially constant for the same air-slip angle.

  Further, since the wheel base L is also constant, the distance lw between the aerodynamic center and the center of gravity of the vehicle can be regarded as an inherent coefficient (yaw moment disturbance coefficient) depending on the vehicle 12, as is apparent from the equation (3). I understand.

  As a result, the observer 32 and the yaw moment disturbance calculation unit 33 do not estimate the actual yaw moment disturbance Nw, but only multiply the estimated side force disturbance φw by the yaw moment disturbance coefficient lw. It can be seen that the yaw moment disturbance φm as the force disturbance estimated value can be calculated.

  Therefore, in step S20, the yaw moment disturbance coefficient storage unit 31 in the lateral force disturbance estimation unit 30 inputs the yaw moment disturbance coefficient lw stored in advance to the observer 32.

  Subsequently, the observer 32 detects the steering angle θ, the lateral acceleration Ay, the actual yaw rate γ, the vehicle speed V obtained by the steering angle sensor 21, the lateral acceleration sensor 22, the yaw rate sensor 23, the vehicle speed sensor 24, and the road surface lateral gradient calculation unit 25, respectively. The road surface lateral gradient φb is used as input information, and the lateral force disturbance φw is calculated using the yaw moment disturbance coefficient lw given from the yaw moment disturbance coefficient storage unit 31, and other parameters (actual yaw rate γ, lateral The velocity v) is estimated and input to the yaw moment disturbance calculation unit 33 (step S30).

Here, the estimation calculation by the observer 32 will be described in detail with reference to an explanatory diagram of the two-wheel model shown in FIG.
The observer 32 is constructed based on the two-wheel model for the vehicle 12 shown in FIG.
In FIG. 6, the front wheel steering angle δf is expressed by the following equation (4) from the steering wheel angle θ and the steering gear ratio Gr.

  In the two-wheel model of FIG. 6, the front wheel steering angle δf and the road surface lateral slope φb are input information, the front wheel cornering power Kf and the rear wheel cornering power Kr, the distance lf from the front wheel to the vehicle center of gravity, and the vehicle from the rear wheel Using the distance lr to the center of gravity, the mass m of the vehicle 12, and the yaw inertia I, the vehicle motion equation can be described as in the following equations (5) and (6).

  However, in the equations (5) and (6), the lateral force disturbance φw and the yaw moment disturbance φm are respectively expressed as follows.

  Therefore, from Equation (2), Equation (5), and Equation (6), a state equation consisting of the following Equation (7) is obtained.

However, in the equation (7), each variable a ₁₁ , a ₁₂ , a ₂₁ , a ₂₂ , b ₁ , b ₂ is represented as follows.

  Here, when the observer 32 for estimating the unknown state quantity ν and the lateral force disturbance φw is designed, the following equations (8) and (9) are obtained.

  Expressions (8) and (9) are observable, and the unknown state quantity ν and the unknown disturbance φw can be estimated by the observer 32.

  The yaw moment disturbance calculation unit 33 uses the lateral force disturbance φw estimated by the observer 32 and the yaw moment disturbance coefficient lw stored in the yaw moment disturbance coefficient storage unit 31 to estimate the yaw moment disturbance φm. Obtained (step S40).

  As described above, the lateral force disturbance φw is estimated in the observer 32, and the yaw moment disturbance φm can be obtained by multiplying by the yaw moment disturbance coefficient lw. As a result, the lateral force disturbance φw and yaw moment disturbance φm applied to the vehicle 12 can be obtained.

  In the above configuration, the road surface lateral gradient calculating unit 25 obtains the road surface lateral gradient φb in the dimension of acceleration and uses it as input information to the observer 32, but obtains it as input information in the dimensions of the gradient angle, force, and the like. You may change the structure of 32 according to it.

  Moreover, although the road surface side gradient calculating unit 25 is used as the road surface side gradient detecting means, the present invention is not limited to this configuration. For example, instead of the road surface side gradient calculating unit 25, car navigation information or an in-vehicle camera is used. A road surface lateral gradient may be detected.

  Further, although the actual steering angle (front wheel steering angle) δf of the front wheel tire is obtained as shown in Equation (4), a tire actual steering angle sensor capable of directly measuring the actual steering angle of the tire may be used. A torque sensor capable of detecting a handle torque (driver torque) Th applied to the wheel 11 may be provided, and the following equation (10) may be obtained using the torsion bar rigidity Kt.

  Furthermore, the vehicle model used for the observer 32 is not limited to the two-wheel model, and the observer 32 may be constructed using a four-wheel model, a nonlinear vehicle model, or the like.

  As described above, the vehicle lateral force disturbance estimation apparatus according to Embodiment 1 of the present invention includes the steering angle sensor 21 that detects the steering angle θ of the vehicle 12 and the lateral acceleration sensor 22 that detects the lateral acceleration Ay of the vehicle 12. A yaw rate sensor 23 for detecting the yaw rate γ of the vehicle 12, a vehicle speed sensor 24 for detecting the vehicle speed V of the vehicle 12, and a road surface lateral gradient calculating unit (for detecting the road surface lateral gradient φb of the road surface on which the vehicle 12 is traveling ( Road surface lateral gradient detecting means) 25 and lateral force disturbance estimating means 30 for estimating the lateral force disturbance φw generated in the vehicle 12.

The lateral force disturbance estimation means 30 has an observer 32 for estimating the lateral force disturbance φw using detected values of the steering angle θ, the lateral acceleration Ay, the yaw rate γ, the vehicle speed V, and the road surface lateral gradient φb.
The road surface lateral gradient calculating unit 25 obtains the road surface lateral gradient φb using the difference (γV−Ay) between the integrated value of the yaw rate γ and the vehicle speed V and the lateral acceleration Ay.

  The lateral force disturbance estimation means 30 includes a yaw moment disturbance coefficient storage unit 31 in which a relational expression (or table) between the yaw moment disturbance Nw generated in the vehicle 12 and the lateral force disturbance Fw is stored in advance, and a yaw moment A yaw moment disturbance calculation unit 33 for estimating and calculating the disturbance φm. The detected values of the steering angle θ, the lateral acceleration Ay, the yaw rate γ, the vehicle speed V, and the road surface lateral gradient φb are given from the yaw moment disturbance coefficient storage unit 31. The lateral force disturbance φw is estimated and calculated using the calculated yaw moment disturbance coefficient lw, and the yaw moment disturbance calculating unit 33 uses the estimated value of the lateral force disturbance φw and the yaw moment disturbance coefficient lw to calculate the yaw moment. The disturbance φm is calculated.

  The yaw moment disturbance coefficient lw is the distance between the center of gravity of the vehicle 12 and the aerodynamic center at which aerodynamic force acts on the vehicle 12, and the aerodynamic lateral force coefficient Cy and aerodynamic yaw moment coefficient Cn of the vehicle 12, the wheel base L, Is set by calculation as (Cn / Cy) × L.

  As described above, according to the first embodiment of the present invention, the road surface lateral gradient φb detected by the road surface lateral gradient calculation unit 25 is used as input information to the observer 32. Therefore, the order of the observer 32 can be reduced, It is possible to reduce the amount of calculation necessary for estimating the lateral force disturbance.

Embodiment 2. FIG.
In the first embodiment (FIG. 1), correction conditions for various parameters used for lateral force disturbance estimation calculation are not mentioned, but as shown in FIG. 7, the wheel load W1 applied to each wheel 10a to 10d. Various parameters may be corrected according to ˜W4.
The second embodiment of the present invention will be described below with reference to FIGS.

FIG. 7 is a block diagram showing a vehicle lateral force disturbance estimation apparatus according to Embodiment 2 of the present invention. Components similar to those described above (see FIG. 1) are denoted by the same reference numerals as those described above, or A detailed description will be omitted with “A” attached later.
In FIG. 7, the vehicle 12 includes a wheel load sensor 26 in addition to the sensors 21 to 24 and the road surface lateral gradient calculating unit 25 described above.

The wheel load sensor 26 detects the left front wheel load W1, the right front wheel load W2, the left rear wheel load W3, and the right rear wheel load W4 and inputs them to the observer 32A in the lateral force disturbance estimation means 30A.
The lateral force disturbance estimation means 30A is based on the detected wheel loads W1 to W4, front wheel cornering power Kf, rear wheel cornering power Kr, distance lf from the front wheel to the vehicle center of gravity, distance lr from the rear wheel to the vehicle center of gravity, Vehicle parameters such as the mass m and yaw inertia I of the vehicle 12 are corrected.

  For example, the distances lf and lr are corrected as in the following expressions (11) and (12).

Each cornering power Kf, Kr is corrected by the table data of FIG. Thereafter, the estimation calculation is performed by the same processing procedure as that in the first embodiment (FIG. 3).
Thereby, even when the load balance of the vehicle 12 changes and the position of the center of gravity of the vehicle changes, or when the front wheel cornering power Kf and the rear wheel cornering power Kr change, the equations (11), (12) and By correcting the parameter values with the table of FIG. 8, the lateral force disturbance φw yaw moment disturbance φb can be estimated and calculated with high accuracy.

In the above configuration, the wheel load sensors 26 are not necessarily provided on all four wheels, and for example, only the loads of the front two wheels and the rear two wheels may be detected.
Further, the cornering powers Kf and Kr are not necessarily corrected using the table shown in FIG. 8, and a predetermined approximate expression may be used.
Further, the yaw inertia I of the vehicle 12 may be corrected by the values of the distances lf and lr. For example, the yaw inertia I is obtained as follows using the mass m of the vehicle 12 and the distances lf and lr.

  Therefore, it can be seen that the yaw inertia I is also corrected by correcting the distances lf and lr.

  As described above, according to the second embodiment of the present invention, the wheel load sensor 26 that detects the loads W1 to W4 applied to the wheels 10a to 10d of the vehicle 12 is further provided. Based on the wheel loads W1 to W4 detected by the load sensor 26, at least one of the parameters used for the lateral force disturbance estimation calculation is corrected, so that the lateral force disturbance φw and the yaw moment disturbance φm are increased. It is possible to estimate and calculate with accuracy.

Embodiment 3 FIG.
In the second embodiment (FIG. 7), the wheel load sensor 26 is provided. However, as shown in FIG. 9, the air pressure sensor 27 is provided, and various parameters are set according to the air pressures P1 to P4 of the wheels 10a to 10d. You may comprise so that it may correct | amend.
The third embodiment of the present invention will be described below with reference to FIGS.

FIG. 9 is a block diagram showing a vehicle lateral force disturbance estimation apparatus according to Embodiment 3 of the present invention. Components similar to those described above (see FIG. 7) are denoted by the same reference numerals as those described above, or A detailed description will be omitted with “B” attached later.
In FIG. 9, the vehicle 12 is provided with an air pressure sensor 27 instead of the wheel load sensor 26 described above (FIG. 7).

The air pressure sensor 27 detects the air pressures P1 to P4 of the wheels 10a to 10d and inputs them to the lateral force disturbance estimation means 30B.
The lateral force disturbance estimation means 30B corrects various parameters based on the detected air pressures P1 to P4. For example, each cornering power Kf, Kr is corrected by the table data in FIG. 10, and thereafter, an estimation calculation is performed by the same processing procedure (FIG. 3) as in the first embodiment.

The cornering powers Kf and Kr are not necessarily corrected using the table shown in FIG. 10, and a predetermined approximate expression may be used.
Further, an air pressure sensor 27 may be further provided in addition to the wheel load sensor 26 described above (FIG. 7). In this case, since the observer 32B corrects various parameters using both the loads W1 to W4 and the air pressures P1 to P4, the estimation calculation can be realized with higher accuracy.

  As described above, according to the third embodiment of the present invention, the air pressure sensor 27 that detects the air pressures P1 to P4 of the wheels 10a to 10d of the vehicle 12 is further provided. Based on the air pressures P1 to P4 of the wheels 10a to 10d detected by the above, at least one parameter of parameters used for the estimation calculation of the lateral force disturbance is corrected, so as in the second embodiment, The lateral force disturbance φw and the yaw moment disturbance φm can be estimated and calculated with high accuracy.

It is a block diagram which shows the vehicle lateral force disturbance estimation apparatus which concerns on Embodiment 1 of this invention with a vehicle. It is explanatory drawing which shows typically the relationship between the gravity added to a general vehicle, and a road surface lateral gradient. It is a flowchart which shows the arithmetic processing procedure by Embodiment 1 of this invention. It is explanatory drawing which shows typically the relationship between the lateral force disturbance applied to a general vehicle, and a yaw moment disturbance. It is explanatory drawing which shows the relationship between a general air-slip angle, a lateral force disturbance coefficient, and a yaw moment disturbance coefficient with a graph. It is explanatory drawing which shows typically the vehicle model used for the observer which concerns on Embodiment 1 of this invention. It is a block diagram which shows the vehicle lateral force disturbance estimation apparatus which concerns on Embodiment 2 of this invention with a vehicle. It is explanatory drawing which shows the relationship between the wheel load and cornering power in Embodiment 2 of this invention with a graph. It is a block diagram which shows the vehicle lateral force disturbance estimation apparatus which concerns on Embodiment 3 of this invention with a vehicle. It is explanatory drawing which shows the relationship between the air pressure and cornering power in Embodiment 3 of this invention with a graph.

Explanation of symbols

  10a Left front wheel, 10b Right front wheel, 10c Left rear wheel, 10d Right rear wheel, 11 Steering wheel, 12 Vehicle, 21 Steering angle sensor, 22 Lateral acceleration sensor, 23 Yaw rate sensor, 24 Vehicle speed sensor, 25 Road surface lateral gradient computing unit ( Road surface lateral gradient detection means), 26 wheel load sensor, 27 air pressure sensor, 30, 30A, 30B lateral force disturbance estimation means, 31 yaw moment disturbance coefficient storage unit, 32, 32A, 32B observer, 33 yaw moment disturbance calculation unit, lw Yaw moment disturbance coefficient, P1 to P4 air pressure, W1 to W4 wheel load, θ steering angle, Ay lateral acceleration, γ yaw rate, V vehicle speed, φb road side gradient, φw lateral force disturbance (estimated value), φm yaw moment disturbance (estimated) value).

Claims (7)

Steering angle detection means for detecting the steering angle of the vehicle;
Lateral acceleration detecting means for detecting lateral acceleration of the vehicle;
Yaw rate detection means for detecting the yaw rate of the vehicle;
Vehicle speed detecting means for detecting the vehicle speed of the vehicle;
Road surface gradient detecting means for detecting the road surface gradient of the road surface on which the vehicle is traveling;
Lateral force disturbance estimating means for estimating a lateral force disturbance generated in the vehicle;
A vehicle lateral force disturbance estimation device comprising :
The lateral force disturbance estimation means includes:
A yaw moment disturbance coefficient storage unit in which a relational expression or table between the yaw moment disturbance generated in the vehicle and the lateral force disturbance is stored;
A yaw moment disturbance calculation unit for calculating the yaw moment disturbance,
The lateral force disturbance is estimated by using the detected values of the steering angle, the lateral acceleration, the yaw rate, the vehicle speed, and the road surface lateral gradient, and the yaw moment disturbance coefficient given from the yaw moment disturbance coefficient storage unit. as well as,
The vehicle lateral force disturbance estimation device, wherein the yaw moment disturbance calculation unit calculates the yaw moment disturbance using the estimated value of the lateral force disturbance and the yaw moment disturbance coefficient . The lateral force disturbance estimation means includes:
The vehicle according to claim 1, further comprising an observer for estimating the lateral force disturbance using detected values of the steering angle, the lateral acceleration, the yaw rate, the vehicle speed, and the road surface lateral gradient. Lateral force disturbance estimation device. The road surface lateral gradient detecting means is
3. The vehicle lateral force disturbance estimation device according to claim 1, wherein the road surface lateral gradient is obtained using a difference between an integrated value of the yaw rate and the vehicle speed and the lateral acceleration. The said yaw moment disturbance coefficient is the distance between the gravity center of the said vehicle, and the aerodynamic center where aerodynamics acts on the said vehicle, The Claim 1 characterized by the above-mentioned Vehicle lateral force disturbance estimation device. The yaw moment disturbance factor, claims the aerodynamic side force coefficient Cy and aerodynamic yaw moment coefficient Cn of the vehicle, by using the wheelbase L, thereby forming characterized in that it is set by the operation as (Cn / Cy) × L The vehicle lateral force disturbance estimation apparatus according to any one of claims 1 to 4 . Wheel load detecting means for detecting a load applied to each wheel of the vehicle,
The lateral force disturbance estimation means includes:
Based on each wheel load detected by the wheel load detection means,
The vehicle lateral force disturbance estimation device according to any one of claims 1 to 5 , wherein at least one parameter among various parameters used for the estimation calculation of the lateral force disturbance is corrected. An air pressure detecting means for detecting air pressure of each wheel of the vehicle;
The lateral force disturbance estimation means includes:
Based on the air pressure of each wheel detected by the air pressure detecting means,
The vehicle lateral force disturbance estimation device according to any one of claims 1 to 6 , wherein at least one parameter among various parameters used for the calculation of the lateral force disturbance is corrected.

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