| 摘要 |
PROBLEM TO BE SOLVED: To reduce the influence of a state of a power source load upon behavior of a vehicle. SOLUTION: When a ratio of the lateral force Ff of front wheels to the lateral force Fr of rear wheels shows a possibility of applying yaw vibration to a vehicle 10, an ECU 100 controls an EPS 200 so that a convergent steering torque Tc for steering the front wheels in a direction to converge the yaw vibration is applied to the front wheels. Meanwhile, when a battery 24 to be a power source of the EPS 200 is in a heavy load state, if the vehicle 10 is braked, the ECU 100 determines a distribution of breaking force for each wheel so as to produce the similar effect as when the torque Tc is applied, and controls braking actuator 23. As a result, moment around a king pin shaft corresponding to each wheel varies in response to the distribution of the braking force, and the turning to a specific direction is facilitated or blocked. COPYRIGHT: (C)2008,JPO&INPIT |
