| 摘要 |
PROBLEM TO BE SOLVED: To allow different vehicles to realize required motions irrespective of a road surface and the like by classifying transfer characteristics of a specific number of model formulae for calculating a target value of the vehicle motion into a primary characteristic capable of adjusting transition and steady-state characteristics and a secondary characteristic capable of adjusting the transition characteristics only for tuning values derived from different vehicles. SOLUTION: Among two setting portions BL1 and BL2 for setting target values of the vehicle motion, the first setting portion BL1 calculates a target yaw rateψ' and a target yaw accelerationψ" based on the detected angleθand the detected vehicle speed VSP using parameters in accordance with the vehicle speed with the transfer function between the steering angle and the target yaw rate formed as the primary/secondary characteristics. The second setting portion BL2 calculates a target lateral velocity Vγand a target lateral acceleration V'γusing the transfer function between the steering angle and the lateral velocity. The first and the second rear wheel steering angle instruction value calculation portions BL3 and BL4 calculate the first and the second target rear wheel steering angle∫R1 ,∫R2 , respectively, and the rear wheel steering angle instruction value calculation portion BL5 calculates the target rear wheel steering angle∫R so as to control the rear wheel steering angle device 2, thus simplifying the tuning operation. |
