| 摘要 |
PROBLEM TO BE SOLVED: To control braking by properly distributing a braking force on each wheel so as to surely generate a yaw moment in the direction to avoid departure from the driving lane regardless of suspension types and the like. SOLUTION: A first and a second departure amounts from a white line and an obstacle are calculated. A first and a second braking force control variables for preventing departure from the white line and the obstacle by generating a yaw moment, a third and a fourth braking force control variables for preventing departure from the white line and the obstacle by generating a deceleration force are set. At the implementation of the braking force control for generating the yaw moment by the use of the first and second braking force control variables, the share of the braking force control variable for generating the yaw moment allotted to the front axle side is limited in order that the generation of a steering torque in the direction departing from the road caused by the king pin arrangement of a front axle does not exceed the value set in advance. Simultaneously, the braking force distribution is corrected such that the braking force distribution to the front and the rear is the ground contact load distribution, and a power for the road departure control of each wheel is calculated. COPYRIGHT: (C)2011,JPO&INPIT |
