| 摘要 |
PROBLEM TO BE SOLVED: To set a target yaw rate accurately optimized under many various conditions and by considering sufficiently much disturbances. SOLUTION: A target yaw rate setting part 70 calculates a target yaw rate by considering vehicle mass, before/behind mass distribution ratio, before/behind shaft mass, a distance between before/behind shaft and the center of gravity, equivalent cornering power of front/rear wheel, and a actual front wheel steering angle. An individual steady yaw rate gain in a right/left steering change direction is set to calculated the target yaw rate. Further in the case of calculating a reference yaw rate by considering a dynamic characteristic of a vehicle, a delay time constant of yaw rate responsiveness relating to steering is changed to be based on an estimated value of a road surfaceμ, and the reference yaw rate is calculated. In the case that the vehicle is placed in a spin condition, a correction speed for correction relating to the reference yaw rate by a target yaw rate correction coefficient is set by a primary delay cut off frequency following up to an actual yaw rate, to be lowered down or inhibited, and excessiveness of the target yaw rate is prevented. |
