| 摘要 |
PROBLEM TO BE SOLVED: To appropriately carry out posture control (steering posture control) by controlling a steering mechanism. SOLUTION: Whether a significant yaw change is caused after a steering mechanism is operated, or not is determined (S1). If it is determined that no significant yaw change is caused, it is determined that no steering is effective, and according steering operation is interrupted (S2). In this case, the steering mechanism is controlled so as to obtain a steering angle corresponding to a degree of manipulation of a steering wheel. If it is determined that a significant yaw change is caused, the steering posture control is continued (S3). With this arrangement, ineffective control during running on a low friction road surface can be avoided. Further, it is ensured to turn steered wheels into a direction intended by the driver when the vehicle runs onto a high friction road surface from a low friction road surface, thereby it is possible to prevent the vehicle posture from being unstable. |
