| 摘要 |
PROBLEM TO BE SOLVED: To early let an occupant recognize unstable attitude of a vehicle by correcting the target attitude so that an attitude control means is easy to operate during the operation of a car speed control means, whereby the traveling attitude of the vehicle is quickly recovered from the unstable state. SOLUTION: SCS.ECU 10 operates an actual side slip angle and an actual yaw rate generated in a vehicle from detection signals V,ϕ, Y of a car speed sensor 15, a yaw rate sensor 17 and a lateral acceleration speed sensor 18. From an actual side slip angle, a reference value referred in operating an estimated side slip angle actually used in the SCS control is operated. The SCS.ECUY 10 operates a target side slip angle as an attitude as a target of a vehicle from a detection signal of a steering angle sensor or the like, starts the attitude control when a difference between the estimated side slip angle and the target side slip angle exceeds a designated threshold, and controls so that the estimated actual side slip angle is converged to the target side slip angle.
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