| 摘要 |
PROBLEM TO BE SOLVED: To make traveling simulator tests highly accurate and to facilitate control in a travelling simulator device of vehicles. SOLUTION: A vehicle side force Fy and a yaw moment M acting on the location of the center of gravity of a test vehicle 21 are computed on the basis of a front side force Fyf and a rear side force Fyr which occur in the test vehicle 21. A front wheel steering angleδAFS and rear wheel steering angleδ4WS according to a front wheel slip angle and a rear wheel slip angle are computed on the basis of the vehicle side force Fy, the yaw moment M, and vehicle speed V. Then controllers 44 and 45 drive and control a front wheel auxiliary steering mechanism 27 and a rear wheel steering mechanism 28 on the basis of the front wheel steering angleδAFS and the rear wheel steering angleδ4WS.
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