| 摘要 |
Provided is a vehicle orientation control device that improves marginal performance and prevents excessive lateral sliding in a marginal region, thereby achieving stabilization of the orientation of a vehicle while improving responsiveness of the vehicle in the initial stage of steering. The vehicle orientation control device (24) is disposed in a vehicle control device (10) that controls a vehicle (1) of which braking/driving torques of at least one pair of right and left wheels (2, 3) can be independently controlled. The vehicle control device (24) is provided with: a temporary normative yaw rate calculation means (25) for determining a normative yaw rate from a vehicle speed and a steering angle; a target yaw moment calculation means (26) for calculating a target yaw moment on the basis of the deviation between the normative yaw rate and an actual yaw rate; a yaw moment control means (27) for adding a necessary braking/driving force for achieving the target yaw moment to a braking/driving force to be applied to each wheel by a braking/driving force instruction means (21); a limit yaw rate calculation means (28) for determining a limit yaw rate upon estimating a road surface friction coefficient; and a normative yaw rate revision means (29) for revising the normative yaw rate using the limit yaw rate when the normative yaw rate is greater than the limit yaw rate. |
