| 摘要 |
PURPOSE:To restore the posture of a vehicle to the original sense of direction by generating a driving difference in motors provided on the respective right and left wheels of driven wheels to add moment to a car body when a large amount of behavior is generated in the vehicle by disturbance such as cross wind or the like. CONSTITUTION:Detection means 10 - 30 detect the vehicle condition, steering angle and the behavior variation of a vehicle, the road surface status (friction mu) is estimated from detection signals thereof by estimating means, the optimum target behavior is computed considering disturbance working on the vehicle or the vehicle condition by arithmetic means 50, the controled variable for correcting and controlling the posture of the vehicle is computed from deviation between the target behavior amount and the actual behavior amount of the vehicle by arithmetic means 60, and a motor command signal is output. The first and second motor control means 71, 72 of driving means 70 drive motors 81, 82 in such a manner as to give controlling force, that is, moment to driven wheels where power of a propulsion motor of a prime mover of the vehicle is not directly transmitted corresponding to deviation of detected behavior amount of the target behavior amount considering disturbance working on the vehicle or the vehicle condition. Thus, the posture of the vehicle can be restored to its original sense of direction. |
