VEHICLE CONTROL SYSTEM

摘要

PROBLEM TO BE SOLVED: To reduce brake operation to attain targeted vehicle body force and yawing moment in the regular region of such a great grip safety margin.

SOLUTION: The vehicle control system is constituted with a calculation means 14 for calculating the first control quantity for controlling the braking force and driving force of each wheel to optimizeμutilization ratio of each wheel based on the constraint condition including the targeted synthetic force which should be applied to the body to obtain the vehicle motion desired by the driver and magnitude of marginal friction circle of each wheel as parameters and the second control quantity for controlling the steering angle of each wheel; a calculation means 18 for calculating the steering control quantity to control the steering angle of each wheel for obtaining the targeted synthetic force by control of the steering angle only; and a control means 22 for controlling only the steering angle of each wheel or the steering angle and the braking and driving force of each wheel based on the control quantity obtained by linearly interpolating cooperative control quantity and steering control quantity with a parameterρ.

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