To stabilize yaw rate so as not to cause deterioration in driving performance by changing driving force distribution in a mode that the yaw rate is maintained at a target value.
Only when the actual yaw rate is determined to have reached a static target yaw rate (calculated in S100) in S200, a control device advances to S700. When it determines that the actual yaw rate has not reached yet, it advances to S300. In S300, the control device calculates the maximum yaw moment of each wheel and braking/driving force of each wheel for attaining the same. In S400, when the device determines that the maximum yaw rate obtained by the maximum yaw moment is not more than a dynamic target yaw rate (calculated in S100), it corrects the driving force of each wheel so that the sum of the driving forces of the wheels which attains the maximum yaw moment corresponds to the dynamic target driving force, in S500. In S700, it determines whether the driving force distribution for attaining the maximum yaw moment is executed or not by the time when the actual yaw rate reaches the static target yaw rate. When the driving force distribution is executed, the device calculates the driving force distribution of the respective wheels with zero yaw moment so that the sum of the driving force distribution of the wheels can be equal to the static target driving force, in S800. If it is not executed, the device carries out static driving force distribution of the respective wheels, in S900.
COPYRIGHT: (C)2010,JPO&INPIT
KOMIYAMA SUSUMU
ITO KENSUKE
WATANABE HIDEAKI
IKEDA TETSUYA
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