| 摘要 |
PROBLEM TO BE SOLVED: To turn a vehicle in the intended direction without adjusting a steering angle by a driver even if the steering angle is changed by a yaw moment and a lateral force applied to tires. SOLUTION: The vehicle has means 3, 4 for generating a driving force difference between left and right driving wheels 13, 14, and comprises vehicle speed detecting means 22-24 for detecting a vehicle speed, a steering angle detecting means 25 for detecting the steering angle of the steering 5 operated by the driver, a yaw moment determining means 8 for determining a target yaw moment on the basis of values detected by the vehicle speed detecting means 22-24 and the steering angle detecting means 25, a left/right driving force difference calculating means 8 for calculating the driving force difference between the left and right driving wheels 13, 14 on the basis of the target yaw moment, a yaw moment change estimating means 8 for estimating a change in the yaw moment by a change in the steering angle due to the driving force difference between the left and right driving wheels 13, 14, and a left/right driving force difference compensating means 8 for compensating the left/right driving force difference on the basis of the change in the yaw moment. COPYRIGHT: (C)2006,JPO&NCIPI |
