| 摘要 |
PROBLEM TO BE SOLVED: To set a relationship between the operation amount of a steering wheel and a turning curvature within a range expected by a driver by limiting a back and forth force to be distributed to left and right wheels so as to prevent a real transverse force corresponding value at the time of turning from exceeding a maximum transverse force value on an equal friction circle. SOLUTION: The car speed V, the transverse acceleration YG and the steering angleδof a vehicle are read and, based on deviation between a standard yaw rateγM calculated by a yaw rate response model calculating means 11 and a real yaw rateγ, the back and forth force in left and right wheels are calculated by a back and forth distribution ratio calculating means 12. Then, a transverse force utilization rateξwhen the back and forth forces of the left and right wheels are generated by this calculation is calculated and, this transverse force utilization rateξis compared with 1, and if the transverse force utilization rateξis lower than 1, control for distributing the back and forth force to the left and right wheel is continued. If the transverse force utilization rateξis 1 or higher, the back and forth force of the left and right wheels is limited and then distributed to the same.
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