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1. Estimation Method for Lateral Disturbance If a crosswind occurs while a vehicle is traveling straight, lateral and rotational motions of the vehicle may occur against the driver’s will. Mitsubishi Electric has modeled the effect of crosswind on the vehicle behavior and developed a new technique to estimate the lateral disturbance using a lateral disturbance observer. This paper describes the principle of this estimation. Here, we examine the lateral and rotational motion of the vehicle based on the two-wheeled model,(1) which has the minimum computable degrees of freedom. If a crosswind occurs while a vehicle is traveling straight, a lateral force and moment are exerted on the vehicle. We have designed a lateral disturbance observer based on the two-wheeled model of the vehicle to estimate the lateral disturbance using the information from sensors on board.(2) Vehicle control is then performed based on the estimated lateral disturbance to improve the straight traveling performance. Figure 1 shows the outline of this control system. Steering action by the driver is entered into the vehicle and reflected in the vehicle’s behavior. The vehicle’s behavior is then entered, as onboard sensor signals, into the lateral disturbance observer. From the entered signals, the observer estimates the amount of lateral disturbance, which is in turn converted to a compensation torque and superimposed on the assist torque of the electric power steering (EPS) to improve the straight traveling performance, canceling out the effect on the vehicle behavior caused by the lateral disturbance. Fig. 1 Control system

Estimation of Lateral Disturbance with Observer and Compensation Control with Electric Power Steering