| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To change strictness in running motion control upon controlling running motion of a vehicle by the steering control and the driving force control. <P>SOLUTION: A target front and rear force Fxt, a target lateral force Fyt, and a target yaw moment Mzt of the vehicle based on an ideal vehicular model are computed S100, S150, an actual front and rear force Fx, a lateral force Fy, and a yaw moment Mz of the vehicle are computed S200, and a target slip angleαti and a first target slip ratioκt1i of the respective wheels are computed S300 on the basis of the above computation. A steering control means is controlled on the basis of the target slip angleαti S1000, S1050. A braking and driving force control means is controlled on the basis of a second target slip ratioκt2i computed on the basis of the target front and rear force Fxt<SB>κ</SB>, the target lateral force Fyt<SB>κ</SB>, and the target yaw moment Mzt<SB>κ</SB>on the basis of an actual vehicular model in a second control mode S550-S700, S1050 and is controlled on the basis of the first target slip ratioκt1i in a first control mode S900, S1050. <P>COPYRIGHT: (C)2003,JPO</p> |
