| 摘要 |
PURPOSE:To discover a turning limit early while a wrong decision is being restrained, by deciding that the turning limit of a vehicle exists when the accumulation value of variation from the reference value of the actual value of the turning state amount of the vehicle has become larger than the reference value. CONSTITUTION:A computer 20 operates a reference yaw rate gamma* and reference lateral acceleration G*y on the basis of a front wheel steering angle deltaf and a vehicle velocity V at a turning state amount operating portion 30, and operates variation SIGMADELTAgamma on the basis of variation DELTAgamma between an actual yaw rate gamma and a reference yaw rate gamma at an accumulation value operating portion 32, and at the same time operates accumulation lateral acceleration GAMMADELTAGy on the basis of variation DELTAGy between actual lateral acceleration Gy and the reference lateral acceleration G*y. Whether or not a vehicle is in a turning state is decided on the basis of the operated accumulation yaw rate variation SIGMADELTAgammaaccumulation lateral acceleration variation SIGMADELTAGy at a turning limit deciding portion 34. As a result, the early discovery of a turning limit becomes possible while a wrong decision caused by the error of a turning state amount itself is being restrained. |
