| 摘要 |
PURPOSE:To improve the control stability at a time of cornering by restraining a yawing motion of a body when a car is making a turn so as to keep a balance with a revolving motion of the body. CONSTITUTION:A car speed V is detected by a car speed detecting means 19, and a lateral acceleration alpha acting on a body is detected by a lateral acceleration detecting means 20. Then the operation is processed by a controller 26 based on both said detected values V and alpha, and a car weight so as to compute a reference yaw angular acceleration omega0. On the other hand, an actual yaw angular acceleration omega is detected by an actual yaw angular acceleration detecting means 21, and then inputted into the controller 26 where omega is subtracted from omega0 so as to compute a deviation DELTAomega for forming a judgement as to whether the deviation DELTAomega is within an allowable deviation range DELTAomega2 or not. And if the deviation DELTAomega is found to exceed the allowable range DELTAomega2, a control signal is outputted to a motor 11 from the controller 26 so as to steer rear wheels for restraining the yawing motion of the body. |
