| 摘要 |
PURPOSE:To sufficiently correct lateral force, even in the case that the lateral force generated by a wheel is changed at acceleration and deceleration time, by correcting a steering angle of a drive wheel in accordance with at least one of braking and driving torques, acting on the drive wheel, and a side slip angle of the drive wheel. CONSTITUTION:A side slip angle of a drive wheel is detected by a drive wheel side slip angle detecting means B simultaneously detecting at least one of driving and braking torques, acting on the drive wheel, by a drive wheel torque detecting means A. A correction amount of a drive wheel steering angle is determined in accordance with the detected torque and drive wheel side slip angle by a drive wheel steering angle correction amount determining means C, and the drive wheel steering angle is changed in accordance with the correction amount of the drive wheel steering angle determined by the drive wheel steering angle correction amount determining means C, in a drive wheel steering angle changing means D. In this way, even in the case that lateral force, generated by a wheel, is changed, this lateral force can be sufficiently corrected to improve running stability of a vehicle. |
