RIGHT-LEFT WHEEL LOAD DIFFERENCE RELATIONSHIP COMPUTING METHOD, LOAD DIFFERENCE CONTROL DEVICE AND VEHICLE CONTROL DEVICE

摘要

PROBLEM TO BE SOLVED: To control the body motion of a vehicle without determining whether the motion of the vehicle shows a tendency of understeer or oversteer, or not.;SOLUTION: A roll rigidity distribution computing controller 12 computes roll rigidity distribution to front right and left wheels in accordance with a yaw moment required for actualizing the behavior of the vehicle in response to the operation of a driver and the direction of the resultant force of a body and controls a suspension. A limit friction circle estimater 14 estimates the limit friction circle of each wheel in accordance with the computed roll rigidity distribution, an estimated value for a friction coefficient μ of each wheel and the size and direction of the resultant force of the body. A steering brake/drive controller 16 controls the steering angle of each wheel and at least one of braking force and driving force in accordance with the estimated limit friction circle of each wheel, the required yaw moment and the size and direction of the resultant force of the body.;COPYRIGHT: (C)2005,JPO&NCIPI