Patent ID: 7295906
Filing Date: 2007-11-13
Classification: B62D,G05D

Abstract:
1. A device for controlling a stability of a vehicle having a vehicle body, wheels and a steering apparatus being able to steer a wheel independently of a driver's steering operation, the device comprising a portion of estimating individual longitudinal forces on the respective wheels; a portion of calculating a longitudinal force difference-caused yaw moment exerted on the vehicle body caused by a difference of the longitudinal forces between the left and right wheels; a portion of calculating a vertical load shift-caused yaw moment exerted on the vehicle body caused by a vertical load shift in the left and right direction of the vehicle body; and a steering control portion of calculating a counter yaw moment for canceling at least partially the longitudinal force difference-caused yaw moment and controlling the steering apparatus through the steering of a wheel to apply on the vehicle body a modified counter yaw moment obtained by eliminating a contribution of the vertical load shift-caused yaw moment to the counter yaw moment therefrom.