Patent ID: 7584042
Filing Date: 2009-09-01
Classification: B60T,B62D

Abstract:
1. A device for controlling a running condition of a vehicle having a vehicle body and a first yaw moment generating apparatus that generates a yaw moment thereon, the device comprising: a portion that judges a running condition of the vehicle; and a portion that executes a running stability control of the vehicle through generating a stabilizing yaw moment to the vehicle by operating the first yaw moment generating apparatus when the running condition is judged to be unstable; a second yaw moment generating apparatus that generates a yaw moment on the vehicle body and a detector that detects an actual yaw rate of the vehicle; the device further comprising: a portion that calculates a target yaw rate for the vehicle based upon a driver's operation and a yaw rate deviation integration value calculating portion that calculates an integration value of yaw rate deviations between the actual and target yaw rates; the yaw rate deviation integration value calculating portion calculating a yaw rate deviation between the actual and target yaw rates every predetermined period and calculating the integration value by integrating a current yaw rate deviation to an integration value of yaw rate deviations obtained in a preceding period while reducing weights of the yaw rate deviations of preceding period relative to a weight of the yaw rate deviation at a present period; and a portion that executes a control of correcting a yaw direction of the vehicle body through generating a direction correcting yaw moment based upon the integration value of the deviations between the yaw rates by operating the second yaw moment generating apparatus; wherein the integration value is given by summing the yaw rate deviation at the present period and a value obtained by multiplying an intergration value calculated in periods before the present period by a forgetting factor.