| 摘要 |
PROBLEM TO BE SOLVED: To minimize pitching caused by automatic braking in behavioral control and to restrain pitching caused by a driver's braking operation to a tolerable level. SOLUTION: When behavioral control in automatic braking is disabled, pitching is restrained not only by raising the internal pressure of the front wheel suspension cylinder according to deceleration XG as shown by a simbolδbut also by lowering the internal pressure of the rear wheel suspension cylinder as shown by a simbolγ. The gains of the simbolsδandγ(+KXG1 and -KXG1 ) are smaller than simbolsεandη, respectively, which represent characteristics of pitching elimination, thereby enabling some pitching to remain for producing comfortable motion. When behavioral control is in operation, pitching is eliminated not only by raising the internal pressure of the front wheel suspension cylinder as shown by the simbolεbut also by lowering the internal pressure of the rear wheel suspension cylinder as shown by the simbolη, thereby making feeling quite normal on experiencing pitching when in the behavioral control mode.
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