| 摘要 |
PURPOSE:To enable vehicle movement to be controlled in quick response to a change in a road condition by estimating vehicle grip state on the basis of the variable acceleration of a wheel slip amount relative to a road, and then controlling the vehicle movement, according to characteristics in coincidence with the estimated grip state, CONSTITUTION:A vehicle control device controlling a rear wheel steering angle deltaR with control factors KF and KB as variable control characteristics, estimates whether current vehicle grip state is in normal, critical or slip state on the basis of the synthetic value GR of longitudinal acceleration GX and lateral acceleration GY (obtained at steps 2 and 3), and the variable acceleration DELTASR (obtained at steps 2 and 4) relative to a road at a step 5, and then determines the control factors KF and KB to coincidence with the estimated result at a step 6. Then, the device controls the rear wheel steering angle DELTAR on the basis of the factors KF and KB. |
