| 摘要 |
PURPOSE:To make the maneuverability of a vehicle coincident with a desired maneuverability, by controlling the actual steering angle of the vehicle to realize a desired value for a momentum which is obtained in a desired vehicle model, in the vehicle itself. CONSTITUTION:A computing and processing device 1 receives a steering angle thetas of a steering wheel which is detected by a steering angle sensor 2 and a vehicle speed V detected by a vehicle speed sensor 2, and delivers desired steering angles and desired steering angle speeds for front and rear wheels. In this arrangement the value of the desired steering angle speed is determined from a value corresponding to a first order differentiation of the desired value of the momentum, which is obtained from a desired momentum computing means incorporating a transfer function having the degree of a denominator greater than that of a numerator by more than two degrees. |
