| 摘要 |
<P>PROBLEM TO BE SOLVED: To suppress the movement to the side of a low μ road of a wheel grounded on the side of a high μ road, and to suppress the rotational displacement to the yaw direction of a vehicle. <P>SOLUTION: When the vehicle travels on a split μ road, and a braking force is generated in wheels, a yaw moment arithmetic part 18 calculates a yaw moment to be generated in a vehicle due to the difference of the braking force between right and left wheels. Also, when the yaw moment is equal to or more than a first set value, a braking time front-and-rear wheel steering angle calculation part 21 reduces a target yaw rate. Moreover, the braking time front-and-rear wheel steering angle calculation part 21 reduces a target lateral deceleration in comparison with the case that the yaw moment is less than a second set value. <P>COPYRIGHT: (C)2010,JPO&INPIT |
