| 摘要 |
PROBLEM TO BE SOLVED: To precisely compensate an oversteer generated on a rear wheel drive vehicle in the middle of turning by increasing torque distribution quantity less than a value in proportion to lateral acceleration at the time of distributing torque in accordance with an increase in the lateral acceleration of the vehicle between left and right wheels of the rear wheel drive vehicle. SOLUTION: Concerning computation of lateral acceleration Yg by a lateral acceleration computing means 21, a lateral acceleration estimation means 29 map-retrieves estimated lateral acceleration Yg1 in accordance with a steering angleθdetected by a steering angle sensor S3 and car speed V. The estimated lateral acceleration Yg1 and actual lateral acceleration Yg2 detected by a lateral acceleration sensor S4 are added to each other by an adding means 30, and the lateral acceleration Yg which is an average value of the estimated lateral acceleration Yg1 and the actual lateral acceleration sensor S4 is computed by multiplying an added value with 1/2 by an average value computing means 31. Consequently, it is possible to provide the precise lateral acceleration Yg without time delay by correcting the actual acceleration Yg2 by the estimated lateral acceleration Yg1 .
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