| 摘要 |
PROBLEM TO BE SOLVED: To suppress generation of yawing when detecting a road surface friction coefficient. SOLUTION: This device is in a vehicle in which driving force is independently imparted to each of four wheels, and the four wheels are steered. The device has a means (block B3) for finding yaw moment generated in the vehicle from the size of the imparted driving force, for determining an actual steering angle of the front wheels or the rear wheels from the size of a steering angle of a steering wheel, and for correcting the actual steering angle to cancel yawing generated by the yaw moment. COPYRIGHT: (C)2006,JPO&NCIPI |
