| 摘要 |
PROBLEM TO BE SOLVED: To prevent an off-course in turning. SOLUTION: This control device comprises a steering angle sensor 1, a yaw rate sensor 2, a means (MYRNO.2) for discriminating oversteering/understeering, a car body slip angle calculating partβfor estimating a car body slip angle, a means for estimating an understeering amount, and a braking force controlling means (VEU.Pmn). In oversteering, two rear wheels and an outside front wheel in turning are controlled with a braking force corresponding to the car body slip angle, and in understeering, two rear wheels are controlled with a braking force corresponding to the understeering amount. Therefore, early moment control can be performed since the tires reach the limit, kinetic energy can be reduced, and the off-course can be prevented. |
