| 摘要 |
<p>The drive torque of a motor for driving a vehicle wheel, as shown in (a), during the period between the start of steering t1 and an instant t2 when a prescribed interval TM1s has passed, is controlled so as to be a value which is temporarily increased from the intended motor torque by just the amount indicated by the solid line waveform in (a); and during the period between t2 and an instant t4 when a prescribed interval TM2s has passed, the drive torque of a motor for driving a vehicle wheel is controlled so as to be a value which is temporarily decreased from the intended motor torque by just the amount indicated by the solid line waveform in (a). In the t1 - t2 interval (initial stage) of (c), the turning moment becomes large according to the difference between the turning moment of the turning direction of the outer wheel Mout and the turning moment (restoring moment) of the turning direction of the inner wheel Min. The increment in the yaw rate promptly rises in the initial stage of the instant t1 - t2 as indicated by a solid line in (b), in accordance with the increase in the apparent lateral force caused by the increase in the turning moment, thus the yaw rate is caused to rise without delay, and thereby it is possible to greatly improve the steering response (initial turning characteristics) of the vehicle.</p> |
