| 摘要 |
PROBLEM TO BE SOLVED: To realize control meeting a response characteristic of a tire relative to a steering angle and exhibiting excellence in control response of yaw moment by distribution of driving force. SOLUTION: ECU 103 has a rear wheel steering angle and yaw moment calculation part 103a for calculating a target rear wheel steering angle, i.e., a primary delay response of the steering angle and calculating the target yaw moment, i.e., response of sum of the response obtained by applying high-pass filter to the steering angle and the response obtained by further differentiating the output; a rear wheel steering angle driving part 103d for driving a second steering mechanism based on the calculated target rear wheel steering angle; a driving force distribution calculation part 103c for calculating distribution of the target driving force based on the calculated target yaw moment; and a right motor driving part 103e and a left motor driving part 103f for driving a right electric motor 104R and a left electric motor 104L based on the distribution of the calculated target driving force. COPYRIGHT: (C)2005,JPO&NCIPI |
