| 摘要 |
<p> A method for calculating a reference yaw rate used as a reference motion state amount of a vehicle, said reference yaw rate having a first-order lag relationship with respect to a normative yaw rate used as a normative motion state amount of the vehicle. The vehicle gross weight (W) and the vehicle stability factor (Kh) are estimated (S20, S30). On the basis of the gross weight and the stability factor, the cornering power (Kf, Kr) of the front and rear wheels and the vehicle yaw inertia moment (Iz) are calculated (S60 to S110). On the basis of the cornering power (Kf, Kr) and the yaw inertia moment (Iz), the steering response time constant coefficient (Tp) that determines the time constant of the first-order lag is calculated (S120), and said coefficient is used to calculate the reference yaw rate (S130).</p> |
