| 摘要 |
PROBLEM TO BE SOLVED: To sufficiently restrain under-steering and over-steering even when vehicle movement control for preventing lateral slipping is combined with right and left driving force distribution control, by preventing interference between the both kinds of control. SOLUTION: A basic addition yaw moment setting part 87 determines a basic addition yaw moment YMall added to a vehicle based on a handle angleθH, a yaw rateγand a vehicle speed V and the polarity of the basic addition yaw moment YMall, and a right and left driving force distribution control part 89 sets driving force distribution for left and right driving wheels 13RL, 13RR based on the polarity of the basic addition yaw moment YMall and the basic addition yaw moment YMall, and when vehicle movement control actuation signals are output from a vehicle movement control unit, adjusts the driving force distribution so that the polarity of the basic addition yaw moment YMall is in the same direction as the yaw moment given by the vehicle movement control unit. COPYRIGHT: (C)2009,JPO&INPIT
|
