| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle behavior control device that eliminates a sense of deceleration such as brake control, has excellent cooperation properties with a power steering device, and enables steering with a sense of natural steering when a driver performs an override.SOLUTION: In lane keeping control, an additional yaw moment Mz necessary for running along a target course is calculated and a correction execution area in which a direction of the yaw moment Mz and a direction where a steering wheel is turned become the same direction is determined by an input from a tire side. When the correction execution area is determined, the yaw moment Mz is generated in a vehicle by a driving force difference between a second motor and a third motor. Also, an estimated turning angle θHe of the steering wheel by the yaw moment Mz is estimated, and an actual steering angle θH is compared with the estimated turning angle θHe to correct characteristics of the assist torque Tass of the power steering generated with respect to a steering torque Td to be input.SELECTED DRAWING: Figure 2 |
