Patent ID: 6941212

Claim:
A stability factor learning method for a vehicle for learning a stability factor of said vehicle in a state of said vehicle during traveling, comprising: a decision step of detecting a state of said vehicle during traveling and deciding based on the detection information whether or not the current traveling state of said vehicle is a stable turning state; and a learning step of calculating, based on a vehicle body speed V body , a steering angle δ and a yaw rate Yaw body detected during traveling, a stability factor A of said vehicle in accordance with an arithmetic operation expression (1): A = ( V body · δ Yaw body · L - 1 ) ⁢ 1 V body 2 ( 1 ) and then setting, if it is decided at the decision step that the current traveling state of said vehicle is a stable turning state, the calculated value as a learned value of the stability factor A of said vehicle.