| 摘要 |
PROBLEM TO BE SOLVED: To properly calculate a state quantity with respect to a skid of a vehicle even in a state where the vehicle travels on a bank, and to properly and effectively execute vehicle control based on the proper state quantity with respect to the skid. SOLUTION: A slip angleβof the vehicle is calculated based on the lateral acceleration Gy of the vehicle (S20). An azimuth change amount D1 is calculated based on GPS information (S30). An angle change amount D2 in the travelling direction of the vehicle is calculated by the integration of a yaw rate Yr (S40). When the absolute value of the deviation between the change amounts D1 and D2 is at a reference value Th or less (S50), a correction coefficient A is calculated to be decreased with decrease in the absolute value of the deviation between D1 and D2 (S60). The magnitude of the slip angleβof the vehicle is corrected to be reduced to A times (S70). A spin state quantity SS is calculated based on the slip angleβof the vehicle and the differentiation valueβd (S80). The vehicle behavior is controlled based on the spin state quantity SS (S90-170). COPYRIGHT: (C)2005,JPO&NCIPI
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