| 摘要 |
<p>A vehicular motion control apparatus uses a steering angle ( phi ) detected by a steering angle sensor (34) capable of detecting an absolute rotational angle. This control apparatus has a yaw rate sensor (36). If a reference rotational position of the steering angle sensor has not been determined, the control apparatus calculates a plurality of target yaw rates ( gamma t1, gamma t2, gamma t3) on the basis of a plurality of steering angles estimated from a steering angle ( phi ) detected by the steering angle sensor (34) (S60, S70, S80), and controls motion of a vehicle on the basis of the minimum one ( DELTA gamma ) of differences ( DELTA gamma 1, DELTA gamma 2, DELTA gamma 3) between the target yaw rates ( gamma t) and an actual yaw rate ( gamma ) (S 100). The control apparatus determines a reference rotational position of the steering angle sensor (34) on the basis of a steering angle corresponding to the minimum one ( DELTA gamma ) of the differences (S200), and then calculates a steering angle (&thetas;) for motion control on the basis of the detected steering angle ( phi ) and the determined reference rotational position. <IMAGE></p> |
