SYSTEM, METHOD AND PROGRAM FOR CONTROLLING ATTITUDE TO PREVENT SIDESLIP AND OVERTURN, AND VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a system and a method for easily and effectively controlling an attitude of a vehicle to maintain a dynamic stability such as preventing a sideslip and an overturn. SOLUTION: The system includes an angle calculation unit 51 for calculating a target-angle value of a rolling attitude angle of the vehicle body by using a measurement value of the rolling attitude angle measured by a gyrosensor. A point where right and left suspension links for vertically supporting the vehicle body are extended to intersect in their length directions is set as an instantaneous center of rotation, and a pendulum model where a movement of the vehicle around a rolling axis is modeled as a pendulum motion in which the center of gravity of the vehicle body vibrates about the instantaneous center of rotation is applied to the system. The system further includes an attitude control unit 52 for calculating target-length values of the right and left suspension links by using the calculated target-angle values and a suspension control unit 53 for performing a control to change the lengths of the right and left suspension links according to the target-length values. COPYRIGHT: (C)2011,JPO&INPIT