| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To turn at smaller limit quantities (with larger limit values). <P>SOLUTION: The position of the center of gravity of a vehicle as a whole body is determined, and limit lateral acceleration a<SB>lim</SB>(=a<SB>Min</SB>, a<SB>Max</SB>) is determined according to the position of the center of gravity. Turning travel is performed in such a range that lateral acceleration a* determined based on a target travel state (V*,γ*) desired by an occupant does not exceed the limit lateral acceleration a<SB>lim</SB>. That is, in the case that the target travel state (V*,γ*) not exceeding the limit lateral acceleration a<SB>lim</SB>is inputted (desired) by the occupant, turning travel is performed in the target travel state. In the case that the target travel state (V*,γ*) exceeding the limit lateral acceleration a<SB>lim</SB>is inputted, the desired target travel state (V*,γ*) is limited to an actual target travel state (V*=,γ*=) to have the lateral acceleration a* equal to the limit lateral acceleration a<SB>lim</SB>. The turning speed and the turning radius of curvature are not limited more than necessary, thereby the turning performance of the vehicle can be utilized to the utmost up to a limit. <P>COPYRIGHT: (C)2008,JPO&INPIT</p> |
