| 摘要 |
PROBLEM TO BE SOLVED: To improve vehicular driving operability by setting up a turning travel state being desired on the basis of a vehicular state quantity, and relatively changing the magnitude of braking force to be imparted to each wheel in accordance with the target turning travel state, while lowering the driving output. SOLUTION: An attitude control (SCS) controller 5 performs a judgment of whether there is an oversteer state or not on the basis of sign coincidence in a β deviation being composed of subtracting an estimate skid angle from a target skid angle at a time when the absolute value of this β deviation is more than the threshold value during the SCS control. In brief, when this βdeviation is in (-), a vehicle is judged to be in the oversteer state, and the reducing control of engine output power is carried out. In brief, an engine output rate K1 is calculated according to the oversteer value, and then a fact of whether the front-wheel slip value is large or not is judged, and when YES is the case, an engine output rate K2 is set up. Moreover, the degree of a front- wheel counter steer is calculated, and then an engine output rate K3 is set up according to the degree. |
