| 摘要 |
<p>PROBLEM TO BE SOLVED: To secure a response property and a stability only in the case where a kinetic property of a tire is located in a nonlinear area by controlling braking force or driving force which is added to each wheel of a vehicle so that a yawing moment value is realized. SOLUTION: With each detector provided on a vehicle, each of the data items such as a steering angleθsw , a vehicle speed V, a vehicle slipping angleβ, and a yaw rate is incorporated into a sliding mode calculator within a computer unit (S1). Cornering forces YF, YR and differential values thereof YF*, YR* are also incorporated into the sliding mode calculator within the computer unit (S2). From these values, a yawing moment MZ is calculated (S3). Furthermore, braking force XR and XL are calculated which each of the right and the left wheel (S4) should generate. Then, a supply liquid pressure to a brake actuator of each wheel is controlled with a braking force distribution modulator so that braking force XR and XL of each of the right and the left wheel (S5).</p> |
