| 摘要 |
PURPOSE:To prevent the spin in marginal turning for emergency avoidance by adjusting the front-back allocation ration of a reverse rolling moment to strong under-steering value if the detected value of a slip angle is in a marginal turning range. CONSTITUTION:The working pressure of a plurality of hydraulic units 18FL to 18RR provided for each of four wheels is controlled by a plurality of pressure control valves 20FL to 20RR. The pressure control valves 20FL to 20RR are controlled by a controller 32 based on the signals from a cross acceleration sensor 26 and slip angle sensor 30. At this moment, whether or not the detected value of the slip angle corresponds to the value in marginal turning is decided by a slip angle decider 40. If the detected value is in the marginal turning range, the front-back allocation ration of a reverse rolling moment by means of a plurality of gain adjusters 38f and 38r, reversers 36f and 36r, and valve driving circuits 34FL to 34RR is adjusted to a strong under-steering value by the first gain commander 42A and a plurality of gain adjusters 38f and 38r. |
