| 摘要 |
PURPOSE:To effectively prevent the occurrence of oscillation phenomenon of a control system by controlling a rear wheel steering mechanism by means of a target rear wheel steering angle, defined by a given formula, based on a front wheel steering angle, a car speed, the yaw speed of a vehicle, yaw acceleration, and a factor variable according to the car speed. CONSTITUTION:A front wheel steering mechanism A interlocking with a steering mechanism C steers left and right front wheels 1L and 1R through a relay rod 5 by an amount equivalent to a handle steering angle. A rear wheel steering mechanism B steers rear wheels 2L and 2R through a relay rod 12 by means of the power of a servo motor 20. The servo motor 20 is controlled in a direction, in which yaw movement of a vehicle is suppressed, through a control unit U according to the operating state of a vehicle. In this case, a target rear wheel steering angle TGthetaR is calculated by a formula of TGthetaR=-K1.thetaF+ K2.V.psi+K3.V.dpsi, based on a front wheel steering angle thetaF, a car speed V, a yaw speed psi of a vehicle, yaw acceleration dpsi, and factors K1-K3 variable according to a car speed. |
