| 摘要 |
PURPOSE:To improve the reliability of control by selecting an estimated lateral acceleration of a lateral acceleration estimating means at the time of small lateral accleration condition and a detected lateral acceleration of a lateral G sensor at the time of large lateral acceleration condition, respectively as the lateral acceleration used in controlling a vehicle. CONSTITUTION:In a control device in which at the time of conducting the control for a vehicle such as traction control or the like, the lateral accleration of a vehicle detected by a lateral G sensor A is used as a parameter for indicating the turning state of the vehicle, there is provided a lateral acceleration estimating means B for estimating the lateral acceleration of a vehicle according to right and left driven wheel speed or steering angle. As the lateral acceleration used in controlling the vehicle, at the time of small lateral accleration condition, the estimated lateral acceleration, and at the time of large lateral acceleration condition, the detected lateral acceleration is respectively selected by a lateral accleration select means C. By the above selective use, in the small lateral acceleration condition of rectilinear propagation, low mu turning and the like, the rectilinear propagation and the low mu turning can be correctly discriminated, and in the high lateral acceleration condition of high mu turning and the like, the linearity of the lateral acceleration characteristic can be ensured so as to improve the reliability of control. |
