VEHICLE

摘要

A vehicle capable of turning with a smaller limitation value (large limitation value). The position of the center of gravity of the whole vehicle is estimated. The limited lateral acceleration a_lim(=a_Min, a_Max) corresponding to the position of the center of gravity is determined. The vehicle turns with a lateral acceleration a^* determined from a target travel state (V^*, ?^*) which the occupant wishes and not exceeding the limited lateral acceleration a_lim. That is, if the occupant inputs (requires) a target travel state (V^*, ?^*) not exceeding the limited lateral acceleration a_lim, the vehicle turns in the target travel state. If a target travel state (V^*, ?^*) exceeding the limited lateral acceleration a_lim is inputted, the ideal target travel state (V^*, ?^*) is limited to an actual target travel state (V^*~, ?^*~) so that lateral acceleration a^* = limited lateral acceleration a_lim. With this, since the turning speed and the turning curvature are not limited more than necessary, the turning performance of the vehicle can be utilized at a maximum to its limitation.