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A turn controller of vehicles
Document Type and Number:
Japanese Patent JP6333917
Kind Code:
This vehicle turning control device controls the turning characteristic of a vehicle having braking/driving sources capable of independently controlling a braking/driving torque for each wheel (2). The vehicle turning control device includes a yaw moment control device (14) for controlling a yaw moment occurring in the vehicle, and a slip determination device (34) for determining a road surface state from the angular velocity and the angular acceleration of the wheel (2) and the vehicle speed. The yaw moment control device (14) includes a control gain calculator (26) for calculating a control gain, a target yaw rate calculator (25) for calculating a target yaw rate from the vehicle speed, the steering angle, and the control gain, and a yaw moment calculator (27) for calculating the braking/driving torque for each wheel (2) in accordance with the target yaw rate. The control gain calculator (26) calculates the control gain on the basis of a determination result of the slip determination device (34).

Suzuki Yudai
Application Number:
Publication Date:
May 30, 2018
Filing Date:
October 28, 2016
Export Citation:
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ntn corporation
International Classes:
B60W30/02; B60L9/18; B60L15/20
Domestic Patent References:
Attorney, Agent or Firm:
Masashi Noda
Shuji Sugimoto