| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To set a target yaw rate based on a steering operation state stably with high responsiveness. <P>SOLUTION: A torque-based target yaw rate YRmt and a steering angle-based target yaw rate YRma are found (S102 to S110), and distribution coefficients K are found based on them (S112), and those two target yaw rate YRmt and YRma are weighted and distributed, so that a real target yaw rate YRref can be set (S114). When a high response is required (YRma/YRmt is small), the actual target yaw rate YRref obtained by weighting the torque-based target yaw rate YRmt is set. When there is a problem in stability due to setting based on the torque-based target yaw rate YRmt (YRma/YRmt are large), the actual target yaw rate YRef obtained by weighting the steering angle-based target yaw rate YRma is set. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
