| 摘要 |
PURPOSE:To improve travel stability by a method wherein a direction of resultant force which functions to each wheel is detected and a steering angle and force for braking or driving are controlled so that they coincide with a direction of travel and a turning radius that a driver wishes. CONSTITUTION:A first detecting device 81 which detects resultant force caused by acceleration functioning to each wheel is provided, while a second detection device 82 which detects a direction of travel that a driver wishes is provided. The output signals of these detection devices 81, 82 are input to a CPU 83. The CPU 83 specifies with the second detecting device the steering angle and force for braking or driving of each wheel so that the intersection of directions of resultant forces of the respective wheels, that is, the intersection of a plural number of vehicle turning circle centers, comes to a position on a turning radius r with the vehicle gravity set at the center. And a constitution whereby a device for controlling the steering angle 84 is controlled according to the specified steering angle, or a device for controlling vehicle speed 85 is controlled according to determined force for braking or driving is realized. |
