| 摘要 |
PROBLEM TO BE SOLVED: To optimally control a vehicle behavior by changing control amount of front and rear wheels in accordance with steering speed.SOLUTION: A vehicle control device 200 includes: a first inertia compensation moment calculation section 278 for calculating a first inertia compensation moment from a difference between a target yaw rate and a feedback yaw rate; a second inertia compensation moment calculation section 278 for calculating second inertia compensation moments corresponding to front and rear wheel positions on the basis of skid angles corresponding to the front and rear wheel positions, respectively; a target inertia compensation moment calculation section 280 for allocating the first inertia compensation moment and the second inertia compensation moments on the basis of steering speed, and calculating target inertia compensation moments corresponding to the front and rear wheel positions, respectively; and an addition section 282 for calculating a control target moment from a steady damping control moment calculated from the difference and the target inertia compensation moments.SELECTED DRAWING: Figure 3 |
