| 摘要 |
PROBLEM TO BE SOLVED: To reliably allow a vehicle to travel along a travel path even in a situation in which braking forces for wheels are restricted.SOLUTION: If a yaw moment Mbt derived from a difference between braking forces for left and right wheels cannot be made equal to a target yaw moment Mt, which is required for a vehicle to travel along a travel path, because braking forces for wheels capable of being generated are restricted (S530 and S540), the braking forces for the respective wheels and a steering angle of a steering wheel are controlled so that the sum total of the braking forces for the wheels becomes equal to a braking force requested for the vehicle, the yaw moment Mbt becomes as close as possible to the target yaw moment Mt, and the sum of the yaw moment Mbt and a yaw moment (Mta) due to a lateral force of the steering wheel becomes equal to the target yaw moment Mt (S550 and S570 to S600). |
