| 摘要 |
PROBLEM TO BE SOLVED: To secure the traveling stability of a vehicle even if a friction coefficient related to a brake friction material is changed.SOLUTION: A vehicle stabilizer 1 has a VSA device 6 which performs ABS control at braking, and makes a brake device 30 generate a brake force for suppressing the rotation of a wheel, and an AS device 4 which operates so as to eliminate the moment of the vehicle. A vehicle control device 50 estimates a friction coefficient (pad μ value) related to a brake friction material of the vehicle, calculates brake forces of left and right wheels by using the estimated friction coefficient, also calculates a yaw moment which is generated at the wheel on the basis of a brake force difference between a brake force for suppressing the rotation of the left-side wheel 3 and a brake force for suppressing the rotation of the right-side wheel 3, and sets a control amount of the AS device 4 on the basis of the calculated yaw moment.SELECTED DRAWING: Figure 1 |
