| 摘要 |
A movement stabilizing control ECU 25 includes a differential unit 25a, a cycle calculation unit 25b, a time constant/gain setting portion 25c, a first-order lag processing unit 25d, a pendulum movement detection unit 25e, a control amount calculation portion 25f and a control amount output unit 25g. The time constant/gain setting portion 25c sets a time constant tau and a gain K used at the time of subjecting a yaw acceleration omega' which is a time-differential value of a yaw rate omega to the first-order lag processing at the first-order lag processing unit 25d, with reference to a function or data of a look-up table, for example, depending on the cycle or the frequency of the yaw acceleration omega' due to the pendulum movement. The control amount calculation portion 25f multiplies the amplitude of a yaw acceleration omegad' outputted from the first-order lag processing unit 25d by a predetermined constant to calculate a yaw control amount with a phase in opposite to that of the yaw acceleration omegad' and outputs the yaw control amount to the control amount output unit 25g.
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