Abstract: A road surface friction coefficient ? is calculated based on a detected lateral acceleration and a front-rear acceleration, and a roll angle is calculated using a roll rate. Further, a maximum engine torque value that can be applied to a drive wheel without causing slipping thereof is calculated based on the road surface friction coefficient ? and a gear ratio. A torque transmission rate that indicates a reduction rate for engine output is set so as to reduce in accordance with a roll angle, and a target engine torque value is calculated by correcting the maximum engine torque value using the torque transmission rate. Accordingly, adjustment is executed such that the engine output is made smaller as the roll angle increases. Thus, abrupt changes in vehicle behavior are not caused by sudden starting of control, and it is possible to inhibit drive feeling from deteriorating.

Abstract: In a case where one of a left and right pair of drive wheels is a non-controlled wheel to which braking force of a vehicle behavior control is not applied, and the other of the drive wheels is a controlled wheel to which braking force is applied, a detected vehicle wheel speed for the non-controlled wheel is corrected to a smaller value in accordance with increase in the roll angle, and increase in the braking force of the controlled wheel when a roll angle of a vehicle body is larger than a threshold value. In a vehicle behavior control, when lateral G acts upon the vehicle during turning, braking force is applied to the controlled wheel that is at the outside of the turn. This braking force application causes driving force of the controlled wheel to be partially transferred to the non-corrected wheel that is at the inside of the turn, whereby the vehicle wheel speed of the non-corrected wheel is increased. Accordingly, in the present invention, correction calculation is performed.

Abstract: In a case where one of a left and right pair of drive wheels is a non-controlled wheel to which braking force of a vehicle behavior control is not applied, and the other of the drive wheels is a controlled wheel to which braking force is applied, a detected vehicle wheel speed for the non-controlled wheel is corrected to a smaller value in accordance with increase in the roll angle, and increase in the braking force of the controlled wheel when a roll angle of a vehicle body is larger than a threshold value. In a vehicle behavior control, when lateral G acts upon the vehicle during turning, braking force is applied to the controlled wheel that is at the outside of the turn. This braking force application causes driving force of the controlled wheel to be partially transferred to the non-corrected wheel that is at the inside of the turn, whereby the vehicle wheel speed of the non-corrected wheel is increased. Accordingly, in the present invention, correction calculation is performed.

Abstract: A road surface friction coefficient ? is calculated based on a detected lateral acceleration and a front-rear acceleration, and a roll angle is calculated using a roll rate. Further, a maximum engine torque value that can be applied to a drive wheel without causing slipping thereof is calculated based on the road surface friction coefficient ? and a gear ratio. A torque transmission rate that indicates a reduction rate for engine output is set so as to reduce in accordance with a roll angle, and a target engine torque value is calculated by correcting the maximum engine torque value using the torque transmission rate. Accordingly, adjustment is executed such that the engine output is made smaller as the roll angle increases. Thus, abrupt changes in vehicle behavior are not caused by sudden starting of control, and it is possible to inhibit drive feeling from deteriorating.

Abstract: A vehicle behavior control device includes a turning limit state detecting device for detecting a turning limit state of a vehicle and an engine output control device for performing a torque-down control by decreasing an engine output when the turning limit state of the vehicle is detected.

Abstract: If a difference between a value evaluated by prorating a sum of an average value of a signal outputted from a signal processing portion within a second predetermined time before a start of a pseudo drive and an average value of the signal outputted from the signal processing portion within a third predetermined time after an end of the pseudo drive, and an average value of the signal outputted from the signal processing portion within a first predetermined time from the start to the end of the pseudo drive does not fall within a predetermine value, the sensor error is determined.

Abstract: The present invention is directed to a front-rear braking force distribution control system for a vehicle. The system includes a wheel brake cylinders operatively associated with front and rear wheels of the vehicle, a pressure generator for pressurizing brake fluid in response to operation of a brake pedal to generate a hydraulic braking pressure and supply it to each of the wheel brake cylinders, and a pressure control device disposed between the pressure generator and the wheel brake cylinders for controlling the braking pressure in each of the wheel brake cylinders. A pressure sensor is provided for detecting the braking pressure generated by the pressure generator, and the detected braking pressure is compared with a predetermined threshold pressure.

Abstract: A vehicle behavior control device includes a turning limit state detecting device for detecting a turning limit state of a vehicle and an engine output control device for performing a torque-down control by decreasing an engine output when the turning limit state of the vehicle is detected.

Abstract: If a difference between a value evaluated by prorating a sum of an average value of a signal outputted from a signal processing portion within a second predetermined time before a start of a pseudo drive and an average value of the signal outputted from the signal processing portion within a third predetermined time after an end of the pseudo drive, and an average value of the signal outputted from the signal processing portion within a first predetermined time from the start to the end of the pseudo drive does not fall within a predetermine value, the sensor error is determined.

Abstract: The present invention is directed to a front-rear braking force distribution control system for a vehicle. The system includes a wheel brake cylinders operatively associated with front and rear wheels of the vehicle, a pressure generator for pressurizing brake fluid in response to operation of a brake pedal to generate a hydraulic braking pressure and supply it to each of the wheel brake cylinders, and a pressure control device disposed between the pressure generator and the wheel brake cylinders for controlling the braking pressure in each of the wheel brake cylinders. A pressure sensor is provided for detecting the braking pressure generated by the pressure generator, and the detected braking pressure is compared with a predetermined threshold pressure.

Abstract: The present invention is directed to a system for detecting a difference in level on a road, wherein an acceleration sensor is provided for detecting an acceleration of a vehicle, and a wheel speed sensor is provided for detecting a wheel speed of at least one wheel of the vehicle. A wheel acceleration is calculated continuously on the basis of the wheel speed detected by the wheel speed sensor. It is determined if a variation of the signal output from the acceleration sensor is greater than a predetermined range. And, it is determined if the calculated wheel acceleration varied in the same direction as that of the variation of the signal output from the acceleration sensor, and then varied in the reverse direction to exceed a predetermined reference value. On the basis of the result of each determination, it is determined if the wheel ran over the difference in level on the road. If the affirmative result is obtained in each determination, the difference in level on the road can be detected.

Abstract: The present invention is directed to an unpaved road detection system wherein a slip rate is calculated on the basis of wheel speeds detected by wheel speed sensors and a vehicle speed detected by a vehicle speed detection device. A linear acceleration sensor is provided for detecting an acceleration of the vehicle in a longitudinal direction thereof to produce a signal linearly proportional to the detected acceleration. A variation of the signal produced by the linear acceleration sensor corresponding to the variation of the slip rate is calculated. The variation of the signal is compared with a reference value. If the variation exceeds the reference value, it is determined that the vehicle is traveling on an unpaved road.