| 摘要 |
PROBLEM TO BE SOLVED: To rapidly correct a yaw rate change generated when one wheel slips on the low frictional road surface during straight running of an electric automobile adopting a four-wheel independent drive type, thereby the not intended yaw rate change arises on a vehicle body, by increasing a drive force of other wheels while avoiding a low frictional road surface. SOLUTION: In the yawing behavior control device of the vehicle, a motor drive force controller 2 detects a slip detection starting time t1 and a slip detection ending time t2 based on the increase of a wheel speed Vw1; and estimates a road surface frictional coefficientμof the low frictional road surface and an amount of a yaw rate changeΔαof a vehicle body 8, when one front wheel W1 of four wheels slips on the low frictional road surface during passing, so that a drive force F2 cannot be transmitted to the road surface with the result that the front right wheel W1 races to increase the wheel speed Vw1. The motor drive force controller 2 estimates from a time t2 to a time t4 when a rear right wheel W4 at the same side with respect to a vehicle widthwise direction with the front right wheel W1 passes the low frictional road surface. The motor drive force controller 2 abolishes the amount of a yaw rate change estimationΔαby increasing the drive force command value F4 of the rear wheel W4 by avoiding from the time t2 to the time t4. COPYRIGHT: (C)2005,JPO&NCIPI |
