| 摘要 |
PROBLEM TO BE SOLVED: To improve reliability in lateral force control by arranging a lateral force control normal means to guarantee that an actual value of a steering angle of its wheels becomes a normal value by lateral force control when the lateral force control is performed in parallel to wheels to which longitudinal force is relatively increased among left and right wheels. SOLUTION: In a rear wheel steering angle controller 30 to input output of a yaw rate sensor 44 or the like when rear wheel steering angle control is performed, first of all, whether or not braking force lateral difference control is performed at present is judged, and when an excessive drift out tendency and a spin tendency are caused in a vehicle, and the braking force lateral difference control is started, whether or not an object of the braking force lateral difference control is left and right rear wheels is judged. In the case of No, an electric current limiting value is set in a standard value. On the other hand, when an object of the braking force laterial difference control is the left and right rear wheels, whether or not rear wheel steering angle control is normal is judged, and when it is not normal, the electric current limiting value is set in a special value larger than the standard value, and afterwards, when prescribed time passes, the electric current limiting value is restored to the standard value. |
