| 摘要 |
PROBLEM TO BE SOLVED: To provide a device and a method for vehicular control, capable of ensuring vehicle stability. SOLUTION: Based on a target front-wheel steering angleθt and a target rear-wheel steering angleδt which are calculated based on a target yaw rateϕ't and a target transverse velocity V<SB>y</SB>t, a front-wheel steering actuator 7 and a rear-wheel steering actuator 8 are drive-controlled so as to drive a front-wheel steering mechanism 12 and a rear-wheel steering mechanism 15. In addition, when the target rear-wheel steering angleδt is a steering angle threshold valueδS or more which is smaller than the maximum steering angle, the target rear-wheel steering angleδt is corrected so as to be reduced, and the braking force applied to each wheel is controlled based on the difference between the target rear-wheel steering angleδt before correction and the target rear-wheel steering angleδ't after correction. Thereby, brake control is operated before a rear-wheel steering angle reaches the maximum steering angle. COPYRIGHT: (C)2010,JPO&INPIT |
