SPIN LIMIT-DETECTING APPARATUS AND SPIN-PREVENTING APPARATUS

摘要

PROBLEM TO BE SOLVED: To detect a gripping state of a tire and a dangerous possibility of a drift and a spin simply, highly accurately with high responsivity. SOLUTION: A vibration yaw moment generation means 28 feeds a sine signal of a proper angular frequency ofω1 to a front wheel-steering device in order to vibrate a vehicle with theω1 proper angular frequency of a yawing motion model and also feeds to a rear wheel-steering device 22 a sine signal of the proper angular frequency ofω1 different 180 deg. in phase from the sine signal fed to the front wheel-steering device. A vibration response detection means 30 detects a resonance component of a yaw rate responding to a vibration yaw moment applied to the vehicle. A resonance characteristic operation means 32 obtains a ratio of an amplitude of the resonance component of the yaw rate detected by the detection means 30 to an amplitude of the steering amount of a front and a rear wheels turned by the vibration yaw moment generation means 28, estimates a resonance characteristic of the yawing motion model from the ratio, thereby detecting a dangerous possibility of a spin or a drift, when an alarm is generated from an alarming device 36.