This vehicle turning control device controls the turning characteristic of a vehicle having braking/driving sources capable of independently controlling a braking/driving torque for each wheel (2). The vehicle turning control device includes a yaw moment control device (14) for controlling a yaw moment occurring in the vehicle, and a slip determination device (34) for determining a road surface state from the angular velocity and the angular acceleration of the wheel (2) and the vehicle speed. The yaw moment control device (14) includes a control gain calculator (26) for calculating a control gain, a target yaw rate calculator (25) for calculating a target yaw rate from the vehicle speed, the steering angle, and the control gain, and a yaw moment calculator (27) for calculating the braking/driving torque for each wheel (2) in accordance with the target yaw rate. The control gain calculator (26) calculates the control gain on the basis of a determination result of the slip determination device (34).
VEHICLE TURNING CONTROL APPARATUS
VORRICHTUNG ZUR FAHRZEUGWENDESTEUERUNG
DISPOSITIF DE COMMANDE DE BRAQUAGE DE VÉHICULE
2021-08-25
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |