| 摘要 |
<p>A vehicle-behavior detecting apparatus including a first-yaw-moment calculating unit (22), a second-yaw-moment calculating unit (23), and an indication-value calculating unit (24). Based on a linear bicycle model, the first-yaw-moment calculating unit (22) calculates a first yaw moment I.d gamma /dt during constant-speed turning. The second-yaw-moment calculating unit (23) reads the longitudinal acceleration dv/dt detected by an acceleration sensor (28) in addition to the parameters read in the first-yaw-moment calculating unit (22), and calculates a second yaw moment M' during acceleration or deceleration. The indicating-value calculating unit (24) calculates a variation value M in the yaw moment showing the vehicle behavior from the difference between the first yaw moment I.d gamma /dt during constant-speed turning and the second yaw moment M' during accelerated or decelerated turning. The variation in the yaw moment due to the vehicle-load shift during accelerated or decelerated turning is compensated for by the variation value M. <IMAGE></p> |
