| 摘要 |
In a vehicle including a torque distributing device for distributing the torque of an engine to left and right driving wheels, a feed-forward control system determines a lateral distribution torque T1 from an engine torque TE, a number Ne of revolutions of the engine, a vehicle speed V and a steering angle theta , and a feed-back control system determines a feed-back torque TF from a target yaw rate Y determined from the vehicle speed V and the steering angle theta and an actual yaw rate Yaw. A final distribution torque T is determined by adding the lateral distribution torque T1 and the feed-back torque TD at a predetermined ratio, and an actuator is driven to distribute the engine torque to the left and right driving wheels on the basis of the final distribution torque T. Thus, it is possible to appropriately distribute the engine torque to the left and right driving wheels, and to allow the actual yaw rate of the vehicle to be matched with the target yaw rate to improve the steering characteristic.
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