To obtain a device which obtains an assist-yawing moment to impart to a vehicle in order to obtain a preferable turning state corresponding to a steering command by a steering wheel.
The transfer function of a circuit where the difference between a vehicle mathematical expression model or a calculation yaw rate calculated by the vehicle mathematical expression model and an actual yaw rate of the vehicle body is feedbacked to the vehicle mathematical expression model is converted to the transfer function calculating an assist moment from the steering input and the calculated yaw rate side by using the vehicle mathematical expression model calculating the yaw rate of the vehicle body from the steering input and the assist-yawing moment imparted to the vehicle. The target assist-yawing moment corresponding to the steering input is calculated by making the calculated yaw rate the target value corresponding to the steering input.
COPYRIGHT: (C)2006,JPO&NCIPI
Kazuya Okumura
Mitsutaka Tsuchida
Urakami Yoshio
Yoshisue
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