| 摘要 |
PROBLEM TO BE SOLVED: To control properly the moving condition of a vehicle on the basis of a presumed value by presuming properly the road surface friction coefficient between a tire and the road surface in accordance with the vehicle condition. SOLUTION: The control gain g2 at the time of calculating the reaction force component based upon the yawrate is set on the basis of the addition gain obtained by adding together the first control gainμb calculated in a relatively short processing time and the second control gainμc calculated with a relatively high calculation accuracy. For the first control gainμb, the change width of the first control gainμa for a presumed road surfaceμ1 is set smaller than the change width of the second control gainμc for a presumed road surfaceμ2, and the upper limit Gup is set complying with the with-time change▵μof the presumed road surfaceμ1. COPYRIGHT: (C)2006,JPO&NCIPI |
