| 摘要 |
PURPOSE:To make the total control effect of both control devices optimum in a vehicle provided with an auxiliary steering angle control device and a braking/driving force control device simultaneously mounted thereon by discriminating vehicle state regions from each other by parameters including longitudinal acceleration, and changing control sensitivity according to the grade of control effect. CONSTITUTION:An integrated control device is provided with an auxiliary steering angle control device (a) for controlling the steering angle of at least one of front wheels and rear wheels at the time of steering the front wheels, and a braking/driving force control device (b) for controlling at least one of the braking force and driving force of each wheel, respectively mounted on a vehicle. The integrated control device is further provided with a longitudinal acceleration detecting means (c) for detecting the longitudinal acceleration XG acting upon the vehicle. The auxiliary steering angle control sensitivity alphas and the braking/driving force control sensitivity alphaT are then set by an integrated control sensitivity setting means (e) so as to enlarge the braking/driving force control sensitivity alphar relatively to the auxiliary steering angle cotnrol sensitivity alphas as the longitudinal acceleration detection value increases. The total control effect of both control devices a, b is therefore made optimum while preventing the control quantity of the device, having a larger control effect during the simultaneous operation of both control devices a, b, from being limited. |
