| 摘要 |
PURPOSE:To better the stability of control of a vehicle by causing the yaw rate of the vehicle to follow a target value gamma*. CONSTITUTION:A target value *of yaw rate is calculated at steps 101-103 from steering angle theta and vehicle speed V. A steering characteristic judged value DELTAgamma=gamma(gamma*-gamma) is calculated at the step 104 from the target value gamma* and the yaw rate gamma. In this case, when the yaw rate gamma of the body of a vehicle is insufficient as compared to the target value gamma*(tendency of under-steering), the judged value DELTAgamma always becomes positive: When the yaw rate gamma of the body of the vehicle is excessive as compared to the target value gamma*(tendency of over-steering), the judged value DELTAgamma always becomes negative. Therefore, the steering characteristic of the vehicle is readily and properly evaluated and is changed through control at the steps 105, 106 according to the judged value DELTAgamma. |
