| 摘要 |
PURPOSE:To improve the traveling stability by providing a control switching means performing the control by a fuzzy control means in the turning state sharper than the preset turning state and performing the control of rear wheels by a yaw rate feedback control means in the turning state not sharper than the preset turning state. CONSTITUTION:This device has a fuzzy control means 32 fuzzily controlling the rear wheels and a control switching means 33 performing the control by the fuzzy control means 32 when the turning state detected by a turning state detecting means is the turning state sharper than the preset turning state and performing the control of the rear wheels by a yaw rate feedback control means 30 in the turning state not sharper than the preset turning state to reduce the change ratio E(n) of the measured yaw rate. The change ratio of the yaw rate is reduced when a spin occurs on a vehicle, thus the traveling stability can be improved in a very unstable traveling state. |
