Honda Motor Co., Ltd.
ATTITUDE CONTROL DEVICE

Abstract:

An attitude control device includes an attitude controller that controls a controlled device such that a traveling attitude of a vehicle is converged to a target attitude, a limiter that limits output of the attitude controller when abnormality is detected in at least one of detectors configured to detect control parameters used by the controlled device or the attitude controller, and a yaw rate detector that detects a yaw rate of the vehicle. The limiter sets a second limit value for a control amount that causes the yaw rate to change in a direction away from 0, to a value smaller than a first limit value for a control amount that causes the yaw rate to change in a direction toward 0.