| 摘要 |
<p>Vehicle motion control device and method systematically treat a condition of each wheel to acquire and maintain the vehicle behavior stability together with anti wheel lock and wheel spin processing, braking forces distribution. The device for controlling a running behavior of a vehicle comprises means for estimating a road reaction force on each wheel, means for calculating a yaw moment around a centroid of the vehicle body generated by the road reaction force on each wheel, and means for controlling driving and braking forces on each wheel based upon the yaw moments so as to stabilize a running of the vehicle. Spin and Drift conditions are detected through presently generated yaw moments and critical yaw moments which can be generated by a road reaction force assumed to be maximized. Physical parameters of each wheel, required for detecting and controlling the behavior of the vehicle, are estimated with a theoretical tire model. <IMAGE></p> |
