| 摘要 |
<p>PROBLEM TO BE SOLVED: To stably and highly accurately perform turn control at a low cost in a general vehicle.SOLUTION: A vehicle control device includes: a turning moment calculation part 204 which calculates a turning moment for turning a vehicle on the basis of a first gain for a steering angle predetermined in accordance with a steering angle of a vehicle and a vehicle speed of the vehicle, and a second gain for a steering angle speed predetermined in accordance with a steering angle speed of the vehicle and the vehicle speed of the vehicle; and a torque difference calculation part 202 which calculates the torque difference between motors provided respectively on right and left drive wheels, required for turning the vehicle on the basis of the turning moment. The first gain and the second gain are set so that phases of lateral acceleration generated at the time of turning of the vehicle and a yaw angle speed at the time of turning approximate 0. The first gain is set to be a positive value for a vehicle speed less than prescribed reference speed and to be a negative value for a vehicle speed equal to or greater than the reference speed.</p> |
