| 摘要 |
PROBLEM TO BE SOLVED: To suppress an abrupt feeling when finishing behavior stabilization control, and to promptly finish the control in a such a state that a driver does not feel the abrupt feeling.SOLUTION: A vehicle control device (control part 100) comprises: steering angle acquisition means 130 which acquires a steering angle θ; yaw rate acquisition means 110 which acquires a yaw rate Y; lateral acceleration acquisition means 150 which acquires lateral acceleration G; road face friction coefficient estimation means 160 which estimates a road face friction coefficient μ; behavior stabilization control means 170 which can perform behavior stabilization control for reducing deviation ΔY between the yaw rate Y and a target yaw rate (standard yaw rate YS) by imparting brake forces to wheel brakes at a turn of wheels; and reduction gradient setting means (pressure reduction gradient setting means 175) which sets reduction gradients (pressure reduction gradients A) of the brake forces on the basis of the steering angle θ and the road face friction coefficient μ when finishing the behavior stabilization control.SELECTED DRAWING: Figure 3 |
