| 摘要 |
PROBLEM TO BE SOLVED: To perform an integrated attitude control without generating interference between the vehicle attitude control to be made through controlling a braking mechanism and the vehicle attitude control to be made through controlling a steering mechanism. SOLUTION: In the understeering condition, the yawrate control is conducted in which the actual yawrate of the vehicle is converged into the target yawrate corresponding to the operation of a steering wheel (S3). In the oversteering condition, the sideways slip angular velocity control is conducted in which the sideways slip angular velocity of the vehicle is converged to zero (S2). The steering attitude control is prohibited if the direction of the control yaw-moment given to the vehicle is not identical between the braking attitude control and the steering attitude control (S4, S6). COPYRIGHT: (C)2005,JPO&NCIPI |
