DEVICE FOR ESTIMATING STATE QUANTITY OF SKID MOTION OF VEHICLE

A device for estimating the state quantity of a skid motion of a vehicle is provided with an element which finds road surface reaction force model values Fsubx_i_estm and Fsuby_i_estm of respective wheels 2-i and a skid motion state quantity model value Vgy_predict using a vehicle model including a friction characteristic model between the wheels 2-i and the road surface, an element which finds the deviation Accy_err between the lateral acceleration model value Accy_estm generated in a predetermined position of the vehicle by the resultant force of the road surface reaction force model values and the lateral acceleration detected value Accy_sens indicated by the output of an actual lateral acceleration detecting means 15 or 22f, and an element which determines, as the estimated value Vgy_estm of the skid motion state quantity, a value obtained by adding a value obtained by passing the deviation Accy_err through a filter 24d1 having a high-cut characteristic to the skid motion state quantity model value.