Yawing controller for vehicle

Abstract

Abstract PURPOSE:To control the yawing of a vehicle, by correcting it with the reference yaw rate estimated on the basis of a detected yaw rate of the vehicle and hysteresis in the yaw rate. CONSTITUTION:Each signal out of speed sensors Sl and Sr for free rolling wheels Wrl and Wrr is inputted into a yaw rate detecting means 1 and thereby this time value and the last value or the like are found at each operation cycle of a yaw rate. A reference yaw rate generating means 2 calculates a reference yaw rate by hysteresis of a steering angle to be secured by a steering angle detecting sensor Ss and hysteresis of the yaw rate secured by the yaw rate detecting means 1. And, a difference between the detected yaw rate and the reference yaw rate is found by a subtracter means 3. Next, the difference is compared with the reference value by a comparator 5, and the result is outputted to an engine power controller 6, thereby controlling engine power. Therefore the detected yaw rate is controlled to the vicinity of the reference yaw rate, thus it is made so as to coincide with the yaw suitable to a driver's desire.

Inventors

• 👤 Shiyuuji Shiraishi
• 👤 修士 白石

Bibliographic Details