| 摘要 |
PROBLEM TO BE SOLVED: To obtain the optimum motion of a vehicle for a driver's steering operation of a steering wheel by freely setting a control gain for determining the size of the motion of the vehicle and a time constant for determining a response. SOLUTION: A yaw rate gain Kyr, a lateral acceleration gain Kgy, a yaw rate time constant Tyr, and a lateral acceleration time constant Tgy corresponding to a vehicle speed V are calculated (S13 to S16), and a yaw rate time constant correction amountΔTyr and a lateral acceleration time constant correction amountΔTgy corresponding to a steering wheel steering speed are calculated (S17 to S18). A target yaw rateγ* and a target lateral acceleration Gy* as a motion target value of the vehicle are calculated (S19 to S20) by using the calculated control gain and the time constant, and target steered angles (δf*,δr*) of front and rear wheels are calculated (S22) so as to obtain the motion target value of the vehicle. COPYRIGHT: (C)2008,JPO&INPIT |
