| 摘要 |
PURPOSE:To justify rear wheel steering in the unstable case of the output signal of a yaw rate sensor by changing over modes to a mode in which yaw rate factor has large values in the same phase direction sequentially as time goes on and many steering wheel angle factors are in the inverse phase direction and a normal mode in the stable neutral time. CONSTITUTION:A mode in which a yaw rate factor Kgamma is about zero and a steering wheel angle factor Ktheta has few inverse phase directions and many same phase directions is provided immediately after the operation of a yaw rate sensor 44, and as time goes on, sequentially is changed over to a mode in which the yaw rate factor Kgamma has a large value in the same phase direction and the many handle angle factors Ktheta are in the reverse phase direction and the normal mode in the stable neutral time. In the most unstable case in the initial traveling, rear wheels are steered only according to the steering wheel angle theta and the factor Ktheta for example and erroneous actions caused by unstable yaw rate gamma is avoided even in immediate traveling of a vehicle. Also, the inverse phase steering angle and same phase yaw rate are strengthened in proportion to the increase of the stability of a neutral position of the output signal of the sensor for feedback control so that the rear wheels are steered to the stable side even against changes in he behavior of the vehicle. |
