| 摘要 |
PURPOSE:To enhance the accuracy of control in such a condition that a vehicle is inclined longitudinally during running on a slope or the like, by compensating the items of the vehicle used for controlling the vehicle, in accordance with an inclined angle which is obtained when the vehicle is inclined longitudinally with respect to the horizontal plane. CONSTITUTION:A desired motion variable computing means 102 obtains a desired value M of a motion variable corresponding to a turn angle of a steering wheel detected by a means 100 and a vehicle speed V detected by a means 101 in accordance with a desired vehicle model containing a previously set and desired operating performance. Further, a control amount generating means 103 delivers a control amount S of a desired steering system status value for realizing the desired value M of the motion variable in accordance with the desired value M and the items of the vehicle. Further, a steering system status amount changing means 104 changes the steering system status value of the vehicle in accordance with the control amount S. Further, a vehicle item compensating means 106 compensates the items of the vehicle at the means 103 in accordance with an angle of longitudinal inclination of the vehicle detected by a means 105. |
