Vehicle

Abstract

[Task] To perform turning with smaller limiting quantities (larger limiting values). [Means of Solving the Problem] A position of center of gravity of a whole vehicle is estimated, then a limit lateral acceleration alim, aMin, aMax) depending on the position of center of gravity is obtained, and the vehicle turns within a limit in which a lateral acceleration a* obtained from a target running state (V* , γ* ) requested by an occupant does not exceed the limit lateral acceleration alim. That is, if a target running state (V* , γ* ) that does not exceed the limit lateral acceleration alim, has been given (requested) by the occupant, the vehicle turns in the given target running state. On the other hand, if a target running state (V* , γ* ) exceeding the limit lateral acceleration alim, has been given, an ideal target running state (V* , γ* ) is limited to an actual target running state (V* ˜, γ* ˜) so that the lateral acceleration a* equals to the limit lateral acceleration alim. Hereby, because a turning speed and a turning curvature are not limited more than necessary, it is possible to achieve maximum use of turning performance of the vehicle up to the limit thereof.

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