| 摘要 |
PROBLEM TO BE SOLVED: To stabilize behavior of a vehicle by determining an ideal steering angle during a braking force control and changing the characteristics of a steering mechanism such that the difference between an actual steering angle and the ideal steering angle during the braking force control is reduced. SOLUTION: Output signals from wheel speed sensors 30FL to 30RR of wheels 12FL to 12RR, a steering angle sensor 34, a transverse G sensor 36 and a yaw rate sensor 38 are input into ECU10 to judge if a braking force control is conducted. When it is judged as YES, an estimated vehicle speed yaw rate is calculated from the wheel speed of a inside front wheel of swiveling and an ideal steering angle is calculated form a vehicle slip angle and an actual steering angle. A degree of over-steering is calculated from the ideal steering angle and the actual steering angle and the assist rate of steering force to be realized for the degree of over-steering is set. A map determining the assist rate to be realized for the degree of over-steering K is memorized in the ECU10. |
