Caster angle control apparatus and method for suspension

摘要

Operation amounts of actuators are controlled in response to a steering wheel angle theta h, a steering wheel angular velocity theta hs, and a road surface mu , in addition to a vehicle speed Vel, to change a caster angle. The caster angle is increased to increase a righting moment of vehicle wheels during steering. The caster angle is increased according to the vehicle speed Vel in non-steering and initial steering conditions, to stabilize the vehicle. This thereby improves the vehicle stability in normal and transitional conditions.