BEHAVIOR CONTROL DEVICE OF VEHICLE AND BEHAVIOR CONTROL METHOD OF THE SAME

摘要

PROBLEM TO BE SOLVED: To securely suppress an influence of sensor noise and to improve drivability when a vehicle is controlled by a feedback of a deviation between a target yaw rate of the vehicle and an actual yaw rate actually generated by the vehicle.SOLUTION: A behavior control device of a vehicle comprises: a control target yaw rate arithmetic section 212 acquiring a target yaw rate γTgt of the vehicle; a yaw rate correction amount arithmetic section 214 acquiring a first yaw rate obtained from a vehicle model 216 and a second yaw rate obtained from a yaw rate sensor 150; a feedback yaw rate arithmetic section 214c increasing an allocation of the first yaw rate when a difference is small and increasing an allocation of the second yaw rate when the difference is large on the basis of the difference between the first yaw rate and the second yaw rate, and calculating a feedback yaw rate γF/B from the first and second yaw rates; and a driving force control section 220 performing control such that the feedback yaw rate γF/B becomes the target yaw rate γTgt.SELECTED DRAWING: Figure 9