| 摘要 |
PURPOSE:To constantly and surely achieve the desired steering performance of a vehicle without being affected by changes in the characteristics of the vehicle and the input of disturbance by finding the amounts by which front and rear wheels are subjected to auxiliary steering control, according to the reverse line of corresponding transmission characteristics and transmission characteristics which can be freely set regarding the yawing motion and cross motion of the vehicle. CONSTITUTION:A vehicle 3 has its front wheels subjected to main steering control via a steering gear 2 according to the steering angle of a steering wheel 1. The vehicle 3 also has its front and rear wheels both subjected to auxiliary steering control by respective actuators 4F, 4R and also the auxiliary steering angle of each of the front and rear wheels is controlled by a controller 5. In this case, the controller 5 comprises an auxiliary steering angle arithmetic circuit 5a and actuator driving circuits 5b, 5c. The circuit 5a computes the auxiliary steering angles of the front and rear wheels when signals from a steering angle sensor 6', a vehicle speed sensor 7, a yawing rate sensor 8 and a cross speed sensor 9 are input thereto and the circuit 5b, 5c causes a stroke of each of the actuators 4F, 4R so that auxiliary steering angles are generated. |
