| 摘要 |
PROBLEM TO BE SOLVED: To prevent the outputting of an unnecessary control variable for external disturbance of the yawing motion when sufficient control is impossible even while a vehicle stops. SOLUTION: When a vehicle stops, the feedback control of a yaw rate is canceled by, for example, changing target wheel cylinder pressure Pi for feedback control into master cylinder pressure PMCF, PMCR. Moreover, the feedback control of the yaw rate is canceled until a car speed increases up to a certain degree when the yaw rate is detected while the vehicle stops or the yaw rate immediately after the start of the vehicle is excessive. The feedback control of the yaw rate is restarted after the car speed increases up to the certain degree and a predetermined period of time elapses. |
