| 摘要 |
<P>PROBLEM TO BE SOLVED: To control drive power for restraining tuck-in motion in an appropriate way so that vehicle turning traveling as intended by a driver is carried out. <P>SOLUTION: Since larger the intention for making estimated tuck-in of the driver on the basis of a yaw rate deviation ΔR<SB POS="POST">Y</SB>between a target yaw rate R<SB POS="POST">Y</SB>t calculated based on steering angle θ<SB POS="POST">SW</SB>and an actual yaw rate R<SB POS="POST">Y</SB>a detected by a yaw rate sensor 68 is, the more the tuck-in restraining torque T<SB POS="POST">Y</SB>off in tuck-in restrain control is restrained, thus making for instance the occurrence of tuck-in more likely; and the tuck-in restraining torque T<SB POS="POST">Y</SB>off for restraining tuck-in, in a way that also the driver's intention for making tuck-in performed is taken into account, upon occurring of a tuck-in during vehicle turning is controlled, in an appropriate way. In other words, tuck-in restraining torque T<SB POS="POST">Y</SB>off can be appropriately controlled so that the vehicle turn travel intended by the driver is carried out. <P>COPYRIGHT: (C)2012,JPO&INPIT |
