| 摘要 |
PROBLEM TO BE SOLVED: To secure the running stability of a vehicle. SOLUTION: This control device comprises a steering angle sensor, a yaw rate sensor, a calculating part of a real yaw rate variation, a car body slip angle calculating part, a braking force controlling means, and a countersteering discriminating part. When countersteering is discriminated to be in operation based on the steering angle and the yaw rate, when the car body slip angle is not smaller than a threshold, and when the sign of the yaw rate is inverted and the variation of the yaw rate is not smaller than a threshold, the front wheel on the outside in turning is controlled by a braking force. When the vehicle is to run on a curve with countersteering, the front wheel outside turning is controlled with the braking force when the variations of the body slip angle and the real yaw rate become thresholds or more. Therefore, control for estimating and monitoring an increase in the yaw rate and the real yaw rate variation just before the vehicle gets in a maximum car body slip angle due to the countersteering can be performed, and stable running can be performed. |
