| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To execute behavior stabilizing control without impairment of comfort, according to an acceleration sensitive error of a yaw rate sensor in a vehicle. <P>SOLUTION: In the controlling device, a threshold setting processing for deciding a threshold Thvsc regulating execution frequency of VSC control is executed. In a process executing the threshold setting processing, it is determined whether an absolute value ¾Gx¾ of fore-and-aft acceleration is larger than a threshold Thg or not (A10). In case that the absolute value ¾Gx¾ is not more than the threshold, a normal threshold Thvsc1 is set as the threshold Thvsc (A18). On the other hand, in case that the ¾Gx¾ is larger that the threshold Thg, basically, a threshold Thvsc2 is set as the threshold Thvsc (A17). At that time, even if the absolute ¾Gx¾ is larger than the threshold Thg, in case that a sensitive error index value ¾YR/Gx¾ which is an absolute value of a value obtained by dividing a yaw rate YR, detected by the yaw rate sensor 15, by the fore-and-aft acceleration Gx is not more than a threshold Thy, the threshold Thvsc 1 is set as the threshold Thvsc. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
