TRAVELING CONTROLLER OF VEHICLE

摘要

PROBLEM TO BE SOLVED: To surely and effectively increase the traveling performance of a vehicle by the control of steering angle of wheels without affecting a behavior control by a behavior controller. SOLUTION: The vehicle comprises the behavior controller for stabilizing the behavior of the vehicle by individually controlling the braking force of the wheels when the behavior of the vehicle is unstable. When an antiskid control is required, an antiskid control is performed for the wheels (S40), a yaw moment M provided to the wheels by the braking of the vehicle is calculated based on the braking force Fbi of the wheels and the steering anglesδf andδr of the front and rear wheels (S50, 60), and the front and rear wheels are actively steered in the phases reverse to each other so that yaw moments substantially identical in magnitude to the yaw moment M and reverse in direction to each other can be provided to the vehicle (S70 to 120). During the operation of the behavior controller, the amount of control of the active steering can be reduced (S80 to 110).