| 摘要 |
PURPOSE:To correctly control the wheel slip of each wheel, facilitate the setting of the steering performance to a neutral state, and improve stability of the automobile. CONSTITUTION:A controller for an automobile is equipped with a detector for detecting the target advance speed udes, detector for detecting the target steering angle deltades, and a detector for detecting the lateral direction accelerating speed a lat of the automobile. A calculating means is installed, and each target angular speed omegaijdes of the wheels 4, 6, 8, and 10 and the target yaw rate omegades are calculated on the basis of the target advance speed udes, target steering angle deltades and the lateral direction accelerating speed alat. Further, a means for controlling the stability of the automobile 2 in correspondence with the target angular speed omegaijdes of the wheels 4, 6, 8 and 10 and the target yaw rate omegades is provided. In this case, control is performed so that the difference between the target angular speed omegaijdes of the wheels 4, 6, 8, and 10 and the actual anglar speed omegaij, and the difference between the target yaw rate omegades and the actual yaw rate omega reduce. |
