| 摘要 |
<p>PROBLEM TO BE SOLVED: To improve accuracy of motion control of a vehicle. SOLUTION: A target front and rear force Fxa, a lateral force Fya, and a target moment Ma as a sum of the front and rear force, lateral force of a vehicle at the time when a slip rate Si of each wheel is 0 and a target front and rear force Fxt and a target moment Mt of behavior control are calculated (S250), and a differential coefficient indicating changes dFx, dFy and dM of the front and rear force, lateral force and moment against a small change dSi of the slip rate of each wheel is calculated (S300). Based on the difference between the target values and the actual values of the front and rear force, lateral force and moment and the differential coefficient, modified amountsδFx,ΔFy andδM of the front and rear force, lateral force and moment are calculated (S200, 350), a modified amountδSi of the slip rate of each wheel to achieve these modified amounts are calculated (S400), a current target slip rate Si is calculated by modifying the previously calculated target slip rate by the slip rate modified amountδSi (S450), and a braking force of each wheel is controlled so that the actual slip rates of each wheel become the target slip rates (S550).</p> |
