| 摘要 |
PURPOSE: A safety traveling control device for a vehicle is provided to control brake torque by accurately calculating a target wheel slip rate based on a vehicle dynamics. CONSTITUTION: A controller for a safety traveling consists of an ECU(electronic control unit)(40) and a hydraulic modulator(6) in a vehicle(60). The ECU comprises a road frictional coefficient outputting unit(42); a tire frictional force calculating unit(44) calculating vertical and horizontal frictional force using a road frictional coefficient; a vehicle dynamics observing unit(46) estimating a tire slip angle and a vehicle side slip angle; a target yield rate calculating unit(48); a target vehicle side slip angle calculating unit(50); a target wheel slip calculating unit(52) comparing a vehicle yield rate with a target yield rate and comparing a vehicle side slip angle with a target vehicle side slip angle for indicating brake torque as target wheel slip rates; and a wheel slip controller(54) obtaining a control signal for the hydraulic modulator to estimate the target wheel slip rates with wheel slip rates.
|
