Yawing-momentum detecting apparatus for a vehicle, a detecting method thereof, and motion controlling apparatus for a vehicle, utilizing the detecting apparatus

A method for detecting yawing momentum of a vehicle, said method comprising the steps of:

• fetching output signals derived from a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis within a plane perpendicular to the vertical axis passing through a gravity center of said vehicle;
• correcting said output signals of said plurality of acceleration means under known acceleration values to coincide with reference input-output characteristic values when said known acceleration values are obtained under a certain vehicle operating condition;
• and
• calculating yawing momentum of said vehicle occurring around said vertical axis based on said output signals from said plurality of acceleration sensors.

A motion controlling apparatus for a vehicle, comprising:

• a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis within a plane perpendicular to the vertical axis passing through a gravity center of said vehicle;
• means for calculating yawing momentum of said vehicle occurring around said vertical axis based upon outputs from said plurality of acceleration sensors;
• characteristic correcting means for correcting input-output characteristics of said plural acceleration sensors under known acceleration values to coincide with reference input-output characteristic values when said known acceleration values are obtained under a certain vehicle operating condition;
• means for calculating target yawing momentum based on a vehicle speed and a driver-manipulated steering angle of said vehicle;
• and
• means for adjusting at least one of a steering apparatus and a braking apparatus of said vehicle such that the yawing momentum obtained by said yawing-momentum calculating means is coincident with said target yawing momentum.