| 摘要 |
PROBLEM TO BE SOLVED: To stabilize a turning behavior while preventing the deeri of turning performance. SOLUTION: A difference E1 is calculated (step S1). When the difference E1 exceeds a first prescribed value th1 (a determination of step S3 is "YES"), an estimation valueγe at a point of the time is set as a target valueγ* (step S4). A difference E2 is calculated (step S6). When the difference E2 is larger than a second prescribed value th2 (a determination of step S7 is "YES"), correction amountΔθof a turning angleθw is calculated according to the difference E2 (step S8), and counter steering is performed according to the correction amountΔθ. Subsequently, when the difference E2 becomes smaller than the second prescribed value th2 and the difference E1 becomes smaller than the first prescribed value th1 (a determination of the step S10 is "YES"), the calculation of the correction amountΔθand the counter steering are finished. COPYRIGHT: (C)2010,JPO&INPIT |
