| 摘要 |
PURPOSE: To control the behavior of a vehicle satisfactorily irrespective of the frictional coefficient of road surface and cant of road surface by providing a means to reduce for compensation the magnitude of a target yaw rate when the magnitude of the target yaw rate exceeds a limit value. CONSTITUTION: In the input/output port device of a microcomputer 52, vehicle speed V signals are inputted from a vehicle speed sensor 56, body lateral acceleration signals Gy are inputted from a lateral acceleration sensor 58 installed substantially at the gravity center of a body, body yaw rate (r) signals are inputted from a yaw rate sensor 60, steering angle (θ) signals are inputted from a steering angle sensor 62, and right and left front wheel speed VFL and VFR signals are inputted from wheel speed sensors 64FL and 64FR, respectively. When it is discriminated that the magnitude of a target yaw rate exceeds a limit yaw rate, the target yaw rate is reduced for compensation based on the limit yaw rate and the frictional coefficient of road surface.
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