PURPOSE: To improve the stability of a vehicle both in the stationary condition and the transitional conditions, and eliminate the shock in switching the control mode.
CONSTITUTION: The operational variables of actuators 7L, 7R are controlled to change the caster angle based on the vehicle speed Vel, the angle θh of the steering wheel, the angular velocity θhs of the steering wheel, and the road surface condition μ, the caster angle is increased in the steering operation to increase the restoring moment of the wheels, the vehicle is stabilized by increasing the caster angle by the vehicle speed Vel in the non-steering operation and in the initial steering operation while the vehicle is stabilized by increasing the caster angle according to the steering condition in the steering operation, and the stability of the vehicle is improved both in the stationary and traditional conditions. The control gain is gradually transferred when the control gain is switched, and the shock is eliminated by preventing the sudden action of the actuators 7L, 7R.
| WO/2010/116485 | STABILIZER DEVICE FOR VEHICLE |
MIICHI YOSHIAKI
TAKEO TAKESHI
TANAKA TADAO
