| 摘要 |
PROBLEM TO BE SOLVED: To improve running stability and vehicle maneuverability by high order running maneuverability control when driving force and braking force are simultaneously controlled. SOLUTION: The improvement method of maneuverability of automobile is provided, and a target value of slip is calculated and controlled by using a wheel control unit. Variables to be measured are: yaw speedψ', steering angleδ, wheel speed VRi , supply pressure or wheel brake pressure, engine speed, and throttle valve angle. Variables to be estimated are: longitudinal speed of the vehicle VX, longitudinal acceleration of the vehicle VX', wheel sliding valueλ1 , longitudinal force FB, tire force FR, and side direction speed VY. he target valueλ(i) * can be calculated with these values by using a simple vehicle model.
|
