| 摘要 |
PROBLEM TO BE SOLVED: To achieve driving/braking force and yaw moment close to driving/braking force and yaw moment that a vehicle needs to have and to prevent the driving/braking force and yaw moment of the vehicle from abruptly varying even if target driving/braking force and target yaw moment that the vehicle needs to have abruptly vary. SOLUTION: The target driving/braking force Fvn and target yaw moment Mvn that the vehicle needs to have under control over the driving/braking force of the respective wheels are calculated (S20). When the target driving/braking force Fvn and target yaw moment Mvn can not be achieved under the control over the driving/braking force of the respective wheels (S50), values of coordinates of a point close to an origin O between an intersection Q1 of a segment L connecting a point P indicating the target driving/braking force Fvn and target yaw moment Mvn, and the origin O, and an outline of a quadrilateral 100 and an intersection Q2 of the segment L connecting the point P indicating hte taget driving/braking force Fvn and target yaw moment Mvn, and the origin o, and an ellipse 102 are regarded as corrected target driving/braking force Fvt and corrected target yaw moemnt Mvt (S70 to S100). COPYRIGHT: (C)2006,JPO&NCIPI |
