| 摘要 |
PROBLEM TO BE SOLVED: To improve travelling stability of a vehicle at the time of turning acceleration and deceleration by effectively preventing deviation of the vehicle caused by a braking and driving force difference of left and right wheels at the time of rectilinear acceleration and deceleration of the vehicle and preventing unnecessary steering of a steering wheel at the time of the turning acceleration and deceleration of the vehicle. SOLUTION: A yaw moment Mf working on the vehicle due to a longitudinal force difference of the left and right wheels is computed (S70, 80) when behavior control is not practiced, antiskid control or traction control is practiced and the vehicle is in the middle of turning (S30, 40, 50), a counter yaw moment Mc after correction is computed (S120) as a yaw moment Mg is added to a counter yaw moment Mc' (=-Mf) to set off the yaw moment Mf, and a steering angle of left and right front wheels is controlled so that the counter yaw moment Mc after the correction is given to the vehicle (S140 to 160). COPYRIGHT: (C)2006,JPO&NCIPI |
