| 摘要 |
A running stability control device for a vehicle having a steering device capable of steering steered vehicle wheels independently of a steering operation by a driver, estimating longitudinal forces of respective vehicle wheels, computing a yaw moment generated by a difference in the longitudinal forces of the vehicle wheels at left and right sides of the vehicle, computing a first compensation amount for a steering angle for decreasing the yaw moment, computing lateral forces generated in the steered vehicle wheels when they are steered for the first steering angle compensation amount, computing a second compensation amount for the steering angle for decreasing a sum of the lateral forces generated in the front and rear vehicle wheels when the steered vehicle wheels are steered for the first steering angle compensation amount, and computing a final steering angle for the steered vehicle wheels based upon the first and second steering angle compensation amounts.
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