| 摘要 |
PROBLEM TO BE SOLVED: To further improve vehicle stability when a vehicle turns in a three-wheeled vehicle having a position of center of gravity deviated from a vehicle body center line.SOLUTION: Acceleration/deceleration of a vehicle is detected on the basis of a change in engine torque Eg during straight traveling, and a corrected steering angle Str2 corresponding to corrected steering amount is calculated on the basis of a steering angle corresponding to steering amount during acceleration. After a target yaw rate Yr corresponding to a reference turning state is estimated on the basis of the steering angle and the corrected steering angle Str2 during turning time or the like, engine control amount and brake control amount are set on the basis of an actual yaw rate Yr corresponding to an actual turning state and the target yaw rate Yr to thereby control acceleration/deceleration of the vehicle. |
