| 摘要 |
PURPOSE:To prevent the turning abnormalities so as to reduce loads applied to brakes by controlling both of braking power applied to control wheels and driving power applied to driving wheels jointly when turning abnormalities due to excessive transversal slip of wheels are generated during the turn of a vehicle. CONSTITUTION:While a vehicle is driven, respective output signals from a steering angle sensor 80, rotation sensors 84, 86, 88, 90 a yaw rate sensor 94 and a transversal acceleration sensor 96 are inputted to a controller, and depending upon whether increasing rates of the transversal acceleration to increments of the steering angle and the vehicle velocity are smaller than reference values or not respectively, it is decided whether tendencies toward turning abnormalities are generated or not, and when it is decided as YES, differences between the last and the present memory values of the vehicle velocity, the steering angle and the transversal acceleration are calculated to decide turning conditions. Then the difference of advancing forces between left and right rear wheels, the optimal imbalance force, is obtained. Depending upon the result of the decision whether the vehicle shows tendencies toward under-steering or over-steering, the brake is switched to the left or the right and control currents for clutches and brakes are determined. |
