Device for controlling running behavior of vehicle by mathematical tire model with compensation for brake malfunction

摘要

A control device for controlling the running behavior of a four wheeled vehicle has a mathematical tire model of each wheel defining a relationship between longitudinal and lateral forces vs. slip ratio, synthesizes the mathematical tire model at zero slip and a control input from an outside running behavior controller such as a spin controller or a driftout controller to generate nominal values of longitudinal force, lateral force and yaw moment of the vehicle body, and controls the slip ratio of the wheels through cyclic adjustment so as to approach the differences between the nominal values and the actual values in the longitudinal force, lateral force and yaw moment of the vehicle body to the corresponding differences of those parameters due to differentiation thereof by the slip ratio based upon the mathematical tire model, wherein when an uncontrollable braking force is applied to any one of the wheels due to a malfunction of the brake system, the nominal values of the longitudinal force and the yaw moment are modified to be decreased as much as an additional longitudinal force and an additional yaw moment corresponding respectively to a longitudinal force and a yaw moment generated in the vehicle by a difference between the uncontrollable braking force and a braking force to be applied to the one wheel according to the slip control.