| 摘要 |
PURPOSE:To improve stability of a vehicle by performing control by considering that in which direction a steering wheel is steered so as to generate lateral force when the yawing moment of the vehicle is controlled by reducing lateral force of front wheels when the vehicle is judged as unstable. CONSTITUTION:A stepping force sensor 11, an optical speed sensor 13 to detect speed in the longitudinal and lateral directions of a vehicle, a steering angle sensor 15 and a yaw rate sensor 1 to detect a yaw rate generated in the vehicle are provided respectively, and respective output signals are inputted to a controller 9. A motional condition in the lateral direction of the vehicle is detected here, and stability of the vehicle is judged according to this lateral motional condition. When the yawing moment of the vehicle is controlled by reducing lateral force of front wheels when the vehicle is judged as unstable, the braking force distribution to front and rear wheels is controlled so that the front wheel side becomes large only when being judged that the yawing moment is not generated in the direction for stabilizing lateral motion of the vehicle by the lateral force of the front wheels. |
