Abstract: A traction control system of a vehicle having a device for calculating a target traction torque of each of a pair of driving wheels based upon operating conditions of the vehicle, a device for calculating a target slip ratio of each of the pair of driving wheels based upon the target traction torque calculated therefor, and a device for controlling the engine and the brake system such that actual slip ratio of each of the pair of driving wheels coincides with the target slip ratio calculated therefor according to a feedback control, with a partial feedforward control of the engine and the brake system based upon the target traction torque.

Abstract: A vehicle deceleration unit has a power train decelerator which controls a power train output to decelerate the vehicle and a brake device which presses a frictional member against a wheel or a rotational member rotating together with the wheel. Upon issuance of a demand for deceleration of the vehicle, the vehicle is decelerated by means of power train output control through the power train decelerator and brake control through the brake device. The vehicle deceleration unit has a target deceleration determiner for detecting a target deceleration, a turning state detector for detecting a turning state of the vehicle, and a control amount calculator for calculating a power train output control amount and a brake control amount based on the target deceleration and the turning state. The vehicle deceleration unit makes it possible to stably decelerate the vehicle regardless of a turning state of the vehicle.

Abstract: A traction control system of a vehicle having a device for calculating a target traction torque of each of a pair of driving wheels based upon operating conditions of the vehicle, a device for calculating a target slip ratio of each of the pair of driving wheels based upon the target traction torque calculated therefor, and a device for controlling the engine and the brake system such that actual slip ratio of each of the pair of driving wheels coincides with the target slip ratio calculated therefor according to a feedback control, with a partial feedforward control of the engine and the brake system based upon the target traction torque.

Abstract: A behavior control device of a vehicle having a device for estimating a drift-out value representative of drifting out state of the vehicle; a device for estimating slip angle of rear wheels; and a controller for controlling a brake system such that, when the drift-out value is greater than a threshold value determined therefor, a moment for yawing the vehicle body in a direction of suppressing the drifting out of the vehicle represented by the drift-out value is generated in accordance with the slip angle of the rear wheels, the yaw moment increases as the slip angle of the rear wheels increases, with a restriction that the yaw moment is no longer increased when the slip angle reaches a limit value representing a state that the cornering force of the rear wheels is substantially at a maximum.

Abstract: A device for estimating reference wheel speed of each wheel of a vehicle having: a calculator for calculating slip angle of vehicle body based upon lateral acceleration, yaw rate, and vehicle speed; an estimator for estimating speed of vehicle body at its center of gravity based upon wheel speed and yaw rate; and a calculator for calculating the reference wheel speed of each of the front left, front right, rear left and rear right wheels based upon the vehicle body gravity center speed, steering angle, slip angle of vehicle body, yaw rate, a half track of a corresponding wheel, and a half wheel base of a corresponding wheel as follows:Vmfl=Vbc*cos (.delta.f-.beta.)-.gamma.*T*cos .delta.f+.gamma.*sin .delta.f*Lf;Vmfr=Vbc*cos (.delta.f-.beta.)+.gamma.*Tfl*cos .delta.f+.gamma.*sin .delta.f*Lf;Vmrl=Vbc*cos .beta.+.gamma.*TrlVmrr=Vbc*cos .beta.-.gamma.

Abstract: In a behavior control system of a vehicle by selective braking of individual wheels according to a target yaw moment and a target longitudinal force, it is judged if the vehicle is in an oversteered condition or an understeered condition, and an essential target of the behavior is changed over between the target yaw moment and the target longitudinal force according to whether the vehicle is in the oversteered condition or the understeered condition.