| 摘要 |
<p>PROBLEM TO BE SOLVED: To more safely perform the automatic steering in turning by controlling a driving force regulating means to reduce the driving force of a vehicle. SOLUTION: The reduction quantity of driving force is calculated on the basis of the expression:ΔTH=K.(Ftmax-(Ft+α)) (Q23). In the expression, K is a control constant, and Ftmax is the maximum value of actual transverse force Ft. The driving force reduction quantityΔTH is calculated so as to be larger as the deviation obtained by subtracting Ff+αfrom Ftmax is larger. After this calculation (Q23), it is judged whether the reduction quantityΔTH is smaller than 0 or not (Q26). When the result of this judgment is YES, the reduction quantityΔTH is added to the present throttle opening TH to calculate the throttle opening TH (Q27). When the acceleration demand from a driver is inputted, the increase correction quantityΔTH1 of the throttle opening is calculated (Q30). Thereafter, the increase correction quantityΔTH1 is added to the throttle opening TH to calculate the throttle opening TH at this time (Q31).</p> |
