| 摘要 |
PROBLEM TO BE SOLVED: To enable a vehicle to corner safely by slightly and appropriately applying the braking force of the wheel brakes of wheels on the inner side of the curve on occurrence of any slight discrepancy between the target yaw rate and the actual yaw rate, before the vehicle reaches an unstable travel condition. SOLUTION: An electronic control unit is provided to process sensor signals and to generate control signals for vehicle wheel braking. In order to avoid undesirable travel conditions such as understeer, oversteer, and sideslip, part of a variety of control algorithms that make up the control program are run. The deviation of the actual yaw rateψist from the target yaw rateψsol1 is taken as the differential yaw rateΔψthrough difference formation. Using the differential yaw rateΔψdecided with the formulaΔψ=ψist -ψsol1, the strength of controlling intervention to avoid understeer travel characteristics is determined.
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