| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To reliably prevent departure from a course to the outside of a curve in a stable vehicle behavior, by effectively and maximally exhibiting cornering force of a tire when a vehicle turns. <P>SOLUTION: A braking force controller of a vehicle is configured to calculate target lateral acceleration based on a vehicle speed V and a steering wheel angleθH, to calculate first additional yaw moment Mzt1 to be added to a vehicle 1 based on the target lateral acceleration and actual lateral acceleration, to calculate, in addition to the first additional yaw moment Mzt1, second additional yaw moment Mzt2 to be added to the vehicle 1 based on the target lateral acceleration and the actual lateral acceleration, to calculate a braking force to be applied to a turning inside wheel as a first braking force FB1 based on the first additional yaw moment Mzt1, to calculate a braking force to be applied to the vehicle 1 as a second braking force FB2 without changing a difference in a braking force between the turning inside wheel and a turning outside wheel based on the second additional yaw moment Mzt2, and calculate a braking force applied to each wheel based on the first braking force FB1 and the second braking force FB2. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
