Toyota Camry Hybrid AHV40 Manual page 138

Outline of VSC Function
1) General
The followings are two examples that can be considered as circumstances in which the tires exceed their
lateral grip limit.
The VSC function is designed to help control the vehicle behavior by controlling the motive force and
the brakes at each wheel when the vehicle is under one of the conditions indicated below.
D When the front wheels lose grip in relation to the rear wheels (front wheel skid tendency).
D When the rear wheels lose grip in relation to the front wheels (rear wheel skid tendency).
Front Wheel Skid Tendency
2) Method for Determining the Vehicle Condition
To determine the condition of the vehicle, sensors detect the steering angle, vehicle speed, vehicle's yaw
rate, and the vehicle's lateral acceleration, which are then calculated by the skid control ECU.
a. Determining Front Wheel Skid
Whether or not the vehicle is in the state of
front wheel skid is determined by the
difference between the target yaw rate and
the vehicle's actual yaw rate.
When the vehicle's actual yaw rate is smaller
than the yaw rate (a target yaw rate that is
determined by the vehicle speed and steering
angle) that should be rightfully generated
when the driver operates the steering wheel,
it means the vehicle is making a turn at a
greater angle than the locus of travel.
Thus, the skid control ECU determines that
there is a large tendency to front wheel skid.
CHASSIS - BRAKE
Rear Wheel Skid Tendency
151CH17
Actual Locus of Travel
(Actual Yaw Rate)
CH-37
189CH100
Locus of Travel
Based on the
Target Yaw Rate
151CH19