| 摘要 |
PROBLEM TO BE SOLVED: To prevent the occurrence of disturbance to the motion of car body to be caused by excessive or insufficient steering, a side wind or disturbance by factors like road surface after steering or the delay of a control system and the like. SOLUTION: Torque commands TR, TL determined provisionally in accordance with the opening of an accelerator or braking force are corrected in a controlling part 200 of acceleration time traveling stability or a controlling part 300 of deceleration time traveling stability to be outputted to a motor controlling part. Receiving the feedback of a variety of the quantities of state showing the state of motion in a lateral direction of a car body, the controlling part 200 of acceleration time traveling stability or a controlling part 300 of deceleration time traveling stability, corrects the torque commands TR and TL based on it. Compared with a structure in which the torque commands TR and TL are corrected based only on a steering angle δt, it is possible to achieve a control of the traveling stability effective to the excessive or too little steering, disturbance, delay of a control system and so forth. |
