| 摘要 |
PROBLEM TO BE SOLVED: To control car speed at a high responsiveness for preventing the behavior of a vehicle from becoming unstable when steering is excessively operated. SOLUTION: A means F determines a target yaw rate (d/dt)ϕ* based on the steering angle θ detected by a means A and the car body speed V detected by a means B, and A means H determines the target yaw moment M[ϕ]* for making the yaw rate (d/dt)ϕ detected by a means G equal to a target value (d/dt)ϕ*. A means C determines the limit value ϕmax for steering angle from the car speed V detected by the means B and the estimated coefficient μ of friction with the road face, a means D determines the excessive steering quantity, Δθ, which is the excessive quantity over this limit value θmax , and a means E calculates a target reduced speed Xc * for preventing the turning behavior of the vehicle from uncontrollability according to Δθ. A means I individually controls the pressure of the brake liquid of each wheel to realize both of the target values M=[ϕ]4x and Xc *. |
