| 摘要 |
<p>PURPOSE:To prevent vehicle spin by controlling torque distribution and engine output according to a vehicle body slip angle calculated by changing cornering power in accordance with variations between the actual values of lateral acceleration and a yaw rate generated at a vehicle body at the time of turning travel and the calculated values of them that are by means of movement equations. CONSTITUTION:A yaw rate gamma and lateral acceleration Gy are calculated by using movement equations from a front wheel steering angle deltaf and a vehicle speed V that are by means of a steering angle sensor and a car speed sensor, and a lateral slip angle beta at a limit sphere is calculated by changing front and rear wheel cornering power in accordance with variations DELTAgamma, DELTAG between the calculated values as above and the actual values of them that are by means of a yaw rate sensor and a lateral acceleration sensor. According to this, input is made to the control portion of a center differential device 20 and differential limit torque is fixed and at the same time the reduction quantity of engine output is fixed, and speed shift motive power to be inputted at a sun gear 21 is divided into a carrier 24 and a sun gear 22 by predetermined reference torque distribution, and is transmitted. Accordingly, a slip angle for a limit movement such as a spin is sought with high precision, and a turning performance and stability can be improved by preventing a spin.</p> |
