| 摘要 |
PROBLEM TO BE SOLVED: To allow control for minimizing aμuse rate of each wheel of even a vehicle other than a four-wheel-drive vehicle by performing control so that driven wheels require no driving force. SOLUTION: An arithmetic means 14 computes controlled variables including driving force controlled variables for controlling driving forces of respective wheels minimizingμuse rates of the respective wheels based upon restriction conditions including, as parameters, vehicle body front/rear forces, and a vehicle body lateral force to be applied to a vehicle body to obtain vehicle body motion that a driver desires, and sizes of friction circles of the respective wheels, and a decision means 16 decides a driven wheel applied with the driving force controlled variable as a restricted wheel; and an arithmetic means 18 computes controlled variables minimizing theμuse rates of the respective wheels based upon restriction conditions wherein a front/rear force to the restricted wheel is 0, and a control means 20 controls at least one of the braking force and steering angle of the restricted wheel, and also controls at least one of braking forces and driving forces of wheels other than the restricted wheel or at least one of the braking forces and driving forces and steering angles. COPYRIGHT: (C)2007,JPO&INPIT |
