Patent ID: 9233674
Filing Date: 2016-01-12
CPC Classification: B60T

Claim Text:
1. A turning control device for a vehicle which generates a yaw moment in a vehicle body by giving a braking force to each of right and left wheels on the basis of a traveling state of the vehicle, the turning control device for the vehicle comprising: a brake control unit which determines a braking force control amount to be applied to each wheel of a vehicle based on input from: a steering angle sensor that detects a steering amount of the vehicle; a vehicle speed sensor that detects or estimates a vehicle speed of the vehicle; a lateral acceleration sensor that detects an acceleration of the vehicle in a right-and-left direction; a yaw rate sensor that detects an actual yaw rate of the vehicle; and the brake control unit calculates: a first standard yaw rate based on input from the lateral acceleration sensor and the vehicle speed sensor; a steady-state standard yaw rate based on input of the steering angle sensor input and vehicle speed sensor input and the first standard yaw rate; a reference limit standard yaw rate based on the steady-state standard yaw rate, a distribution coefficient, and the first standard yaw rate; a second standard yaw rate; a limit yaw rate deviation by subtracting the actual yaw rate from the second standard yaw rate; correction coefficients HS wherein correction coefficient HS wherein correction coefficient HS wherein correction coefficient HS wherein the second standard yaw rate is calculated by multiplying the reference limit standard yaw rate by correction coefficients HS determines a correction amount so that the second standard yaw rate becomes smaller as the vehicle speed becomes larger.