APPARATUS AND METHOD FOR CONTROLLING VEHICLE BODY TILT

摘要

PROBLEM TO BE SOLVED: To improve turning performance in tilting a vehicle body toward the turning inside.

SOLUTION: A target ground tilting angle ϕ* for tilting the vehicle body toward the turning inside along a rolling direction during turn is set. A drive motor 3 is controlled according to the set target ground tilting angle ϕ*. A target yaw rate γ* of the vehicle body is set and the yaw rate of the vehicle body is controlled according to the target yaw rate γ* and the tilting angle to the turning inside along the rolling direction of the vehicle body. More specifically, the target yaw rate γ* of the vehicle body is set according to a steering angle and a vehicle speed. A camber thrust component compensation amount δc is calculated, which corresponds to a yaw motion component resulting from camber thrust when the vehicle body is tilted to the turning inside along the rolling direction. The yaw rate of the vehicle body is controlled according to the target yaw rate γ* and the camber thrust component compensation amount δc.

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