To provide a travelling posture control device of a vehicle, acquiring a desired yaw moment favorably in a high precision, and also to provide a travelling posture control method.
This device to control a posture of a vehicle having a wheel free to steer independently from steering of a steering wheel by a driver, has: a means S6 to set driving force of a driving wheel in correspondence with a driving state; means S8, S12 to determine whether the set driving force is within an area free to realize and, to restrict the driving force to the driving force free to realize when it exceeds the area free to realize; and a means S11 to compute combination of steering angle correcting quantity of each of the wheels to restrain a lateral force change and a moment change of a vehicle body caused by driving force restriction, and also to compute the combination of the steering angle correcting quantity in accordance with tire lateral force sensitivity which is an index to express a degree of lateral sliding angle variation of each of the wheels influencing upon tire lateral force variation.
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| JP2005271846A | ||||
| JP2007001330A |
Masahiro Fujii
Masaaki Iida
Yasunari Mita