| 摘要 |
PROBLEM TO BE SOLVED: To control behaviour of a vehicle optimally by controlling a target control moment optimally on the basis of reliability of a roll angle of the vehicle.SOLUTION: A control device 200 comprises: a target yaw rate calculation portion 220 that acquires a target yaw rate; a subtraction portion 254 that acquires a first roll angle to be determined from a vehicle model and a second roll angle to be determined from a sensor; a feedback roll angle calculation portion 284 that calculates a feedback roll angle on the basis of a difference between the first roll angle and the second roll angle; a feedback yaw rate calculation portion 260 that acquires a feedback yaw rate, as a yaw rate generated by the vehicle, to be compared with the target yaw rate; and a target control moment calculation portion 290 that calculates a target control moment on the basis of a difference between the target yaw rate and the feedback yaw rate, and corrects the target control moment on the basis of the feedback roll angle.SELECTED DRAWING: Figure 3 |
