VEHICLE POSITION CONTROL UNIT

摘要

PROBLEM TO BE SOLVED: To ensure normal vehicle position control by correcting an error of the change in the vehicle slip angle even when the road surface is inclined not only gently but also sharply. SOLUTION: In a vehicle state operation section 8, when a slip angle change speedβ' used for determining the start of vehicle oversteering control and calculated using the lateral acceleration Gy detected by the lateral G sensor 7 is corrected when the lateral G sensor 7 mis-detects the lateral acceleration Gy and the mis-detected lateral acceleration Gy is used for calculation. More specifically, if an absolute value of the slip angle change speed calculated by subtracting a low frequency filter valueβ'- off (n) from the slip angle change speedβ' calculated using the lateral acceleration Gy exceeds a predetermined value k3 and becomes equal to or less than a predetermined value k4, the calculated slip angle change speed is corrected.