| 摘要 |
PROBLEM TO BE SOLVED: To reduce deviation in a lateral direction of a traveling route of a vehicle caused by lateral force generated by a steering wheel by steering of the steering wheel while preventing deflection of the vehicle caused by difference of braking driving forces of left and right wheels. SOLUTION: Yaw moment Mf by difference of front and rear force of the left and right wheels is operated (S100, 110) during execution of anti-skid control or traction control (S60-80). A behavior control target steering angleΔδct of the front wheel for canceling the yaw moment Mf by counter moment Mc (=-Mf) is operated (S120). A target steering angle correction amountΔδt is operated (S130, 140) based on a target yaw angleβt for canceling the lateral force generated by the front wheel by steering control of the front wheel by the lateral force of the front wheel and a yaw angle deflectionΔβ, i.e., deflection of direction of the vehicle and direction of the vehicle intended by a driver. A steering angle of the front wheel is controlled based on the behavior control target steering angleΔδct and the target steering angle correction amount (S150, 160). COPYRIGHT: (C)2006,JPO&NCIPI |
