| 摘要 |
PROBLEM TO BE SOLVED: To compute the target yaw rate of a vehicle with high accuracy by suitably changing a steering gear ratio for computing the target yaw rate of the vehicle. SOLUTION: When a vehicle is not in a transient turning state, a steering angleθis small, and lateral acceleration Gy is large (S20, 40, 110), the influence of a stability factor Kh to the computing accuracy of a reference yaw rateγt is large, so that the integrated value Khi of the stability factor Kh over the time of the first reference value T21 is computed (S120-140). When the time of the second reference value T22 further elapses without the vehicle getting into the transient turning state (S150), the correction value Kha of the stability factor Kh is computed (S170), and the stability factor Kh in an operation expression is set to the correction value Kha to compute the reference yaw rateγt (S170, 190). |
