| 摘要 |
PROBLEM TO BE SOLVED: To realize prescribed car body movement without conducting steering control. SOLUTION: Various kinds of state quantity of a car body detected by sensors are taken in (50), and various kinds of physical quantity are determined for each wheel (52-66). Using the physical quantity obtained by operation or the like, an evaluation function is defined (68), and using the evaluation function, a forward/backwardμutilization factor for each wheel is operated (70). Using the forward/backwardμutilization factor for each wheel, road surfaceμ, and a grounding load, brake drive force F<SB>x</SB>for each wheel is operated (72). Based on the brake drive force F<SB>x</SB>for each wheel, each wheel is brake drive-controlled (74). COPYRIGHT: (C)2005,JPO&NCIPI
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