| 摘要 |
PROBLEM TO BE SOLVED: To stably and optimally control a vehicle with good response on not only a highμroad but also on a lowμroad and also when a road surface is abruptly changed without requiring a device for estimating theμof the road surfaces. SOLUTION: A right and left driving force distribution control part 60 calculates a basic adding yaw moment, a longitudinal acceleration sensitive yaw moment, a slip correction yaw moment, and a wheel difference sensitive yaw moment, provides the total sum of these yaw moments, converts the total sum to a torque movement amount, and outputs it to a rear clutch drive part 70. The wheel difference sensitive yaw moment moves torque in a direction for following up the lower wheel speed of rear wheels to a reference vehicle speed by performing a PD control sensing a deviation between the reference vehicle speed and the lower wheel speed. Since the lower wheel speed of the rear wheels is increased by this correction, the lower wheel speed of the rear wheels is low and a rear lateral force remains in a limit traveling on a snow road and the tendency of under steering occurs, and the deterioration of a turning capability can be suppressed. COPYRIGHT: (C)2006,JPO&NCIPI
|
