| 摘要 |
PURPOSE:To obtain a desired vehicle characteristic in a wide region including a limiting region by decentralizing a vehicle motion into plural sub-systems, and conducting the decentralized hierarchical control concerning the control for the vehicle motion. CONSTITUTION:There are provided a manipulated detection means E1 for detecting the manipulated variable operated by a driver, and a behavior amount detection means E2 for detecting the behavior amount of a car body, and output signals of the above means are input to a total control means E3. Plural sub- systems comprising a wheel mechanism having one or plural wheels respectively calculate dynamic characteristics to be followed according to the manipulated variable and the behavior amount, and the dynamic characteristics are output as a command signal to each sub-control means E5(i). Each sub-system comprises sub-control means E5(1)-E5(n) adapted to calculate a controlled variable according to the quantity of state, behavior amount and a command signal of quantity of state detection means E4(1)-E4(n) and output the controlled variable to each driving means E6(i), wherein according to the controlled variable, the wheel mechanism is controlled by driving means E6(1)-E6(n). |
