| 摘要 |
PURPOSE:To control the motion of a vehicle by using 4WS and braking force control and perform effective, efficient and optimum control sharing of each system in response to lateral G and/or longitudinal G in use. CONSTITUTION:A device depends on a yaw rate F/B for rear wheel auxiliary steering control and right and left braking force difference control (S110-130). If a lateral G (Yg) is a parameter, the control sharing rate alpha of both controls is determined according to the detected lateral G (S115). The property of the sharing rate is specified to increase each sharing rate in an effective area for both controls. In a low lateral G area, steering angle control which has great effect in such an area is mainly executed, and along with a large non-linear lateral G area the behavior control of the vehicle is mainly changed into right and left braking force difference control which has effect even in such an area. The total effect of behavior control on the vehicle can be improved. |
