| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To suppress an incongruity sense of a driver during vehicle turn by a braking/driving force difference between right and left wheels. <P>SOLUTION: An electronic controller 1 has: a braking/driving force calculation means calculating braking/driving force of the wheels generating the braking/driving force difference between the right and left wheels of front wheels W<SB>FR</SB>, W<SB>FL</SB>and rear wheels W<SB>RR</SB>, W<SB>RL</SB>generating desired vehicle yaw gain; and a braking/driving force control means controlling braking/driving force generation devices (in-wheel motors 40<SB>FL</SB>, 40<SB>FR</SB>, 40<SB>RL</SB>, 40<SB>RR</SB>, a brake actuator 33 or the like) each capable of individually applying the braking/driving force to each wheel such that the wheels have the braking/driving force obtained by the braking/driving force calculation means. The braking/driving force calculation means calculates the braking/driving force of the wheels such that a difference between magnitude of vehicle turn outer direction lateral force applied to the vehicle gravity center according to the braking/driving force difference between the right-and-left wheels in the front wheels W<SB>FR</SB>, W<SB>FL</SB>and magnitude of vehicle turn inner direction lateral force applied to the vehicle gravity center according to the braking/driving force difference between the right-and-left wheels in the rear wheels W<SB>RL</SB>, W<SB>RR</SB>, becomes small. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
