| 摘要 |
<p>PURPOSE: To restrain the effect of front and rear force control from dropping by lateral control by relatively' reducing the absolute value of the tire slip angle of a wheel at execution of front and rear force control more than that nonexecution, in an object where the front and rear force is controlled by controlling the rotational torque of a wheel. CONSTITUTION: This controller is equipped with a rear wheel angle controller 120 as a lateral force controller, and based on the sensor signals of a steering angle sensor 130, a car velocity sensor 132, a yaw rate sensor 134, a rear wheel angel sensor 136, etc., a rear wheel angle actuator 44 is controlled so that the objective value of the rear wheel may be materialized. Moreover, as a front and rear controller, this is equipped with a rotary torque controller which can control the rotational torque of right and left wheels, and a rotational torque actuator (wheel brake) is controlled so that the objective value of rotational torque difference between right and left wheels may be materialized. In case that the control of front and rear force is executed, the decided objective value is compensated so that the tire slip angle may come close to 0.</p> |
