| 摘要 |
PURPOSE:To improve the extent of turning responsiveness by controlling a braking device of a wheel at the turning inside so as to be operated at a time when an actual yaw rate related value is delayed to a target yaw rate related value and there is produced a difference between both values. CONSTITUTION:A turning controller is provided with a body speed detecting means 1, a steering angle detecting means 2 and an actual yaw rate related value detecting means. In an automobile which brakes at least either of a front wheel or rear wheel while it is equipped with a braking device 4 capable of controlling each braking force for symmetrical wheels separately on the one side wheel, there is provided a target yaw rate related value setting means 5 which sets a target yaw rate related value of a car body on the basis of body speed and steering angle detected by at least the body speed detecting means 1 and the steering angle detecting means 2. Then, wheels at the turning inside of both symmetrical wheels are braked, while the braking force is controlled so as to be the bulkier, the larger in a difference between both actual and target yaw rate related values. |
