| 摘要 |
PROBLEM TO BE SOLVED: To prevent a judgment that an erroneous overseer state is caused by turnback of the steering wheel by the driver. SOLUTION: The reference yaw rate γt is calculated on the basis of the vehicle speed and the steering angle (step 20), and the amount of deflection between the actual yaw rate γd and the reference yaw rate γt is calculated (steps 40 and 50). The understeer state is judged when the reference yaw rate γt is larger than the actual yaw rate γd and the amount of deflection is larger than a first reference value Du (steps 60 and 80), and the oversteer state is judged when the actual raw rate γd is larger than the reference yaw rate γt and the amount of deflection is larger than a second reference value Do (steps 80 and 90). The second reference value is larger than the first reference value. |
