| 摘要 |
PURPOSE:To avoid the bulge of a travel line by correcting a target yawing movement amount according to the acceleration/deceleration operation of an operator at a sphere where cornering force is reduced, enlarging in addition the effect of correction according to the increase of lateral acceleration. CONSTITUTION:A steering angle theta is detected by means of a steering angle sensor 53, and a vehicle velocity V is detected by means of a vehicle velocity sensor 52, and on the basis of these detection values, a reference yaw rate is calculated by means of a controller 58. Meanwhile, on the basis of a detection value Xg at a front and rear acceleration sensor 49 and the detection value PSI of a yaw rate sensor 55, the correction amount of a reference yawing movement amount is operated, and a throttle opening correction number Ka or a front and rear acceleration correction coefficient Kb is set. The detection value Acc of a throttle opening sensor 48 is multiplied by the correction coefficient Ka during acceleration, and the value Acc is multiplied by the correction coefficient Kb during deceleration, and a correction coefficient K is set. Feedback control is conducted so that a target yawing movement amount which is the reference yawing movement amount corrected by the correction coefficient K and an actual yawing movement amount may coincide with each other, and a pressure control valve 50 is controlled. |
