| 摘要 |
PURPOSE:To prevent the erroneous judgment by taking account of the delay of the behavior of a vehicle for steering, when the steering characteristic is judged on the basis of the yaw rate or the actual value and the standard value of the lateral acceleration. CONSTITUTION:The standard lateral acceleration upper limit value Ygu and the standard lateral acceleration lower limit value Ygw are set according to the turning traveling state of a vehicle, i.e., the car speed V and steering angle, and the brake force of a brake device for a driving wheel is strengthened so that the difference between the actual lateral acceleration Yg generated on the vehicle and the standard lateral acceleration upper limit value Ygu becomes 0 or less, and the driving force of an engine is reduced, and thus the yaw movement is suppressed. When the sign of the steering angular speed thetav reverses, the offset quantity DELTAYo taking account of the delay of the behavior of the vehicle for steering is added to the standard lateral acceleration upper limit value Ygu and the standard lateral acceleration lower limit value Ygw, and the erroneous judgement for the steering characteristic (oversteered state or understeered state) is prevented. |
