| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent turning directional vehicle behavior from becoming unstable when performing automatic braking for avoiding contact with a front obstacle. SOLUTION: When performing the automatic braking for preventing one's own car from contacting with an object, in the case where a yaw rate changing speed by performing time differential on a yaw rate in a Step S7 is small and the vehicle behavior is stable, the automatic braking is performed on the basis of reference brake pressure P1 preset in a Step S9, and while, when the yaw rate changing speed is large and the vehicle behavior is unstable, the vehicle behavior is stabilized by reducing the reference brake pressure P1 in a Step S8. When generating the yaw moment for restoring a vehicle attitude by imparting a difference between left and right brake pressures instead of reducing the reference brake pressure P1, the vehicle behavior can be stabilized further.</p> |
