| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device for controlling the vehicle motion. SOLUTION: In a vehicle motion control, the changeΔθh of the steering angleθh by a steering wheel is detected by a steering angle change detecting means 40a1, the variable gain G is controlled based on the vehicle speed V by a variable gain multiplying means 40a2, and the controlled variable gain G is multiplied to the changeΔθh of the steering angle. The result of multiplication is integrated by an integrating means 40a3, and further converted into the target actual steering angle by a target actual steering angle calculating means 40a4. A deviation detecting means 40a5 obtains the deviation between the actual steering angleθT and the target actual steering angleθT*, and calculates the angular deviationΔθT. Since the changeΔθh of the steering angleθh is zero in a steered condition, the result with the variable gain G multiplied thereto is also zero, and the result of integrating the result of multiplication is also unchanged. Therefore, the actual steering angle of the steering wheel is unchanged, and a driver has no sense of incompatibility in the steering. COPYRIGHT: (C)2004,JPO |
