| 摘要 |
PURPOSE:To prevent a vehicle from presenting an unstable motion, by estimating to what extent of a value the motion condition quantity target value, determined in accordance with a target vehicle model, reaches and correcting the target vehicle model when the vehicle is steered. CONSTITUTION:A target vehicle model presents a motion condition quantity steady value corresponding to outputs of a steering amount detecting means 100 and a car speed detecting means 101, and an estimating means 102, which estimates the motion condition quantity steady value by a transmission function of the target vehicle mode equipped with the target motion performance, is provided. Here the transmission function of the target vehicle mode is corrected by a transmission function correcting means 103 corresponding to a degree of the estimated steady value, and a separate target vehicle mode is formed. While an arithmetic means 104, which obtains a motion condition quantity target value corresponding to a steering amount and a car speed on the basis of the separate target vehicle model, is provided. And a determining means 105, which determines the steering angle target value of a control objective wheel on the basis of said motion condition quantity target value, controls a steering means 106.
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