ATTITUDE CONTROLLER VEHICLE

摘要

PROBLEM TO BE SOLVED: To make stabilization of an attitude control when a vehicle changes the attitude and the intention of a driver compatible by correcting a convergent controlled variable according to a decision result as to which of the change of target attitude quantity or the change of estimated attitude quantity a factor that deviation quantity of target attitude quantity and estimated quantity is made a prescribed value or more is caused by. SOLUTION: Changing speedΔψdif of yaw rate deviation quantity decides the presence or absence of changes of a prescribed value 2 or more (S202). When changes exists, whether the changing factor of changing speedΔψdif is target yaw rate or actual yaw rate is decided, the changing factor is decided to be due to a steering operation of a driver when the change factor is target yaw rate, an upper limit valueβTRLin of a target sideslip angle is corrected in the increasing direction (S208) and a yaw rate controlled variableψamt is corrected in the reducing direction (S210). The changing factor is decided to be due to disturbance if the changing factor is an actual yaw rate, a sideslip angle control starting thresholdβ0 is corrected in the reducing direction (S212) and the yaw rate controlled variableψamt is corrected in the increasing direction.