| 摘要 |
PROBLEM TO BE SOLVED: To provide a behavior control system that suppresses a spinning behavior of a vehicle using a spinning state quantity, which is calculated based on a vehicle body slip angle, a derivative of the slip angle, and a second-order derivative thereof, as a control quantity, and avoid degradation of an effect of spin suppressing due to contribution of the second-order derivative of the vehicle body slip angle when a steering angle is retained after abrupt steering is performed once.SOLUTION: A system of the present invention is characterized in that after a second-order derivative of a vehicle body slip angle exceeds a predetermined value because a vehicle is steered in one of left-hand and right-hand directions, if an averaged value of steering angular velocities falls below a predetermined value, contribution of the second-order derivative of the vehicle body slip angle to a spinning state quantity is reduced. |
