STEERING DEVICE FOR VEHICLE AND ATTITUDE CONTROL DEVICE FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To properly control the steering according to the over-steering state or under-steering state of a vehicle to stabilize the vehicle attitude and perform an integrated attitude control without causing an interference between the vehicle attitude control by the control of a braking mechanism and the vehicle attitude control by the control of a steering mechanism. SOLUTION: A yaw rate control of converging the actual yaw rate of the vehicle to a target yaw rate conformed to the operation of a steering wheel is performed in the under-steering state (S3). A lip angle control of converging the slip angle of the vehicle to zero is performed in the over-steering state (S2). When the direction of the control yaw moment to be imparted to the vehicle is not coincident between braking attitude control and steering attitude control, the steering attitude control is prohibited (S4, S6).