| 摘要 |
PURPOSE: To restrict or control a spin or drift-out to an optimum state in correspondence to running condition of a vehicle by stabilizing the turning behavior of the vehicle, based on a spinning state predicted by a second behavior predicting means, when such a spinning state is predicted by the second behavior predicting means. CONSTITUTION: A spin value SV is computed as a lateral slip speed by reading a detection signal, by computing a lateral slip acceleration of a vehicle, and by integrating the deviation of the lateral acceleration (step 10 to 30). A spin controlling quantity SC is computed by a map corresponding to a graph, based on the absolute value of the spin value SV in order to compute a target yaw rate 'rt' (step 40 to 50). A drift value DV is computed after the processing of phase adjustment of the target yaw rate 'rt' (step 60 to 80). Next, a coefficient K is discriminated, and, if the result is affirmative (Yes), the coefficient K is set at 1.0 and flag Ft is rest to 0. Next, suitableness of drift-out restricting control is discriminated, andΔK is added to the coefficient K (step 90 to 130).
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