| 摘要 |
<p>PROBLEM TO BE SOLVED: To restrain the irregular behavior of a vehicle caused by the external disturbance of a lateral wind without requiring a driver's possitive steering by acting an auxiliary reaction torque to the direction restraining a vehicular behavoir to a running wheel regardless of the existence/absence of a driver's steering. SOLUTION: The auxiliary reaction torques T1, T2, T3 for respective components are found out, by making each of a steering angular velosityω, lateral acceleration G and yaw rateγto an address, from respective data tables set per a car speed V (S21-23) and they are added (S24). Further, the auxiliary reaction torque more than needed is removed (S25) and a target auxiliary reaction torque decision value TA is decided. Thereby, when the yaw rateγor lateral acceleration G are generated to the vehicle by the external disturbance such as the lateral wind, a front wheel is steered automatically so as to always running the vehicle straightly for the external disturbance and the irregular behavoir can be stabilized.</p> |
