Patent ID: 6659570
Filing Date: 2003-12-09
Classification: B60T,B60W

Abstract:
A device for controlling a running behavior of a vehicle, the vehicle having a vehicle body and wheels, comprising:means for estimating a road reaction force generated on each of the wheels; means for calculating a yaw moment around a centroid of the vehicle body generated by the road reaction force on each of the wheels; and means for controlling driving and braking forces on each of the wheels based upon said yaw moments so as to stabilize a running of the vehicle, wherein said driving and braking force controlling means includes calculation means to calculate a yaw moment required to be added to the vehicle body so as to stabilize the vehicle running, and controls the driving and braking forces on each of the wheels so as to add said required yaw moment to the vehicle body, said required yaw moment being calculated based upon a yaw moment presently generated by the road reaction force on each of the wheels and a yaw moment estimated to be realized through the control of the driving and braking forces on each of the wheels.