Abstract: A method of precisely measuring the track twist of a track on which a vehicle for commercial operation is travelling using this vehicle is to be provided. The method includes measuring a condition of a track (R) on which a vehicle for commercial operation (100) is travelling using this vehicle (100). The vehicle for commercial operation includes a bogie (10). The bogie includes four wheels (1) and primary springs (2) provided to correspond to the four wheels (1) and support the corresponding wheels (1), and is capable of measuring a wheel load of each of the four wheels (1). The method includes the steps of: measuring the wheel load of each wheel (1) (S13); calculating the displacement of each primary spring (2) based on the measured wheel load (S15); and calculating the track twist (h) of the track (R) based on the calculated displacements of the primary springs (2) (S18).

Abstract: A method of precisely measuring the track twist of a track on which a vehicle for commercial operation is travelling using this vehicle is to be provided. The method includes measuring a condition of a track (R) on which a vehicle for commercial operation (100) is travelling using this vehicle (100). The vehicle for commercial operation includes a bogie (10). The bogie includes four wheels (1) and primary springs (2) provided to correspond to the four wheels (1) and support the corresponding wheels (1), and is capable of measuring a wheel load of each of the four wheels (1). The method includes the steps of: measuring the wheel load of each wheel (1) (S13); calculating the displacement of each primary spring (2) based on the measured wheel load (S15); and calculating the track twist (h) of the track (R) based on the calculated displacements of the primary springs (2) (S18).

Abstract: The apparatus comprises a measured signal detector 11, a vehicle parameter obtainer 12, a sideslip angle temporary estimator 13, a sideslip angle differential corresponding value computer 14 and a sideslip angle real estimator 15. A sideslip angle temporary estimate value is computed from one or plural vehicle parameters including at least the mass. A sideslip angle differential corresponding value is computed from a measured signal and the vehicle parameters including no mass. A sideslip angle is derived from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value. A sideslip can be detected without a steering angle detection mechanism.

Abstract: The apparatus comprises a measured signal detector 11, a vehicle parameter obtainer 12, a sideslip angle temporary estimator 13, a sideslip angle differential corresponding value computer 14 and a sideslip angle real estimator 15. A sideslip angle temporary estimate value is computed from one or plural vehicle parameters including at least the mass. A sideslip angle differential corresponding value is computed from a measured signal and the vehicle parameters including no mass. A sideslip angle is derived from the sideslip angle temporary estimate value and the sideslip angle differential corresponding value. A sideslip can be detected without a steering angle detection mechanism.