| 摘要 |
PROBLEM TO BE SOLVED: To run a vehicle more stably than before by preventing the occurrence of yaw moment around the center of gravity of the vehicle. SOLUTION: This is a stable running controller of a vehicle having a braking device which gives braking force to each wheel. Ground contact loads W1 to W4 of four wheels are calculated (step 20), and braking forces Fbi to Fb4 of the four wheels are calculated (step 30). Driving forces Fd1 to Fd4 of the four wheels are calculated (steps 40 and 50), and forward and backward forces Fy1 to Fy4 of the four wheels are calculated as deviations of the braking forces Fb1 to Fb4 and the driving forces Fd1 to Fd4 (step 60). Coefficients of friction of forward and backward forcesμy1 toμy4 of the four wheels are calculated as ratios of the forward and backward forces Fy1 to Fy4 to the ground contact loads W1 to W4 (step 70), and braking force of each wheel is controlled so that the coefficients of friction of forward and backward forcesμy1 toμy4 of the four wheels become equal each other (step 80).
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