| 摘要 |
PROBLEM TO BE SOLVED: To prevent the skid of a vehicle in a high accuracy by using, as a reference yaw speed for control, a smaller value between a first desired value for a yaw speed corresponding to a request of a driver and another desired value for which a floating angle in a range of a rear wheel that does not steer the vehicle does not exceed a restricted value. SOLUTION: A steering angleδand a vehicle longitudinal speed vx that are previously provided from a driver are processed, a first desired valueψsol 1(δ, vx) for a yaw speedψis detected using a linear vehicle model 18. This desired value corresponds to a request of the driver that is controlled by an operation of a control member in relation to a movement of a vehicle on a running road. In addition, under an auxiliary condition that a floating angleβh in a range of a rear wheel that does not steer the vehicle does not exceed a restricted value, another desired valueψsol 1(β) is detected. A smaller valve of the both desired values is supplied as an input 17 of the desired value to aψcontroller 14 in a control device 10. Thus, any skid can be prevented. |
