| 摘要 |
PROBLEM TO BE SOLVED: To provide a control apparatus for a vehicle capable of stabilizing the behavior of the vehicle with respect to a road surface input. SOLUTION: In the vehicle 10 that can independently control actual steering angles of front and rear wheels, respectively, a front wheel roll stroke amountθf-θas a true road surface input is calculated based on a suspension stroke amount (roll angle conversion) of the front wheel and a suspension stroke amount (roll angle conversion) caused by a steering input according to an intention of a driver. Based on the front wheel roll stroke amountθf-θ, lateral forces working on the front and rear wheels are calculated to control actual steering angles of the front and rear wheels based on a corrected steering angle calculated to restrain the lateral forces. A vehicle body roll angleθis calculated based on the front wheel roll stroke amountθf-θ, and a roll steering angleδrl as a steering input not according to the intention of the driver is calculated based on the vehicle body roll angleθ. During steering control, a steering angle corresponding to the roll steering angle is corrected, thus restraining the generation of unnecessary lateral forces. COPYRIGHT: (C)2009,JPO&INPIT |
