Patent ID: 6334656
Filing Date: 2002-01-01
Classification: B60T

Abstract:
A method for controlling a vehicle behavior by individually controlling a fore-and-aft force of each of right and left vehicle wheels so as to achieve a desired vehicle behavior, comprising the steps of:computing a desired yaw and/or vehicle body slip angle response; computing a yawing moment which is required to be applied to the vehicle to achieve the desired yaw and/or vehicle body slip angle response according to a yaw motion equation of the vehicle for given dynamic state quantities of the vehicle including at least a traveling speed, and cornering forces of vehicle wheel tires which are determined either directly or indirectly; and controlling a fore-and-aft force which is applied to each of the wheels so as to achieve said computed yawing moment, wherein said fore-and-aft force is controlled by a sliding mode control process using a sliding surface based at least on the dynamic state quantity of the vehicle.