| 摘要 |
PROBLEM TO BE SOLVED: To control turning behavior while considering the dynamic behavior of a vehicle, in a four-wheel steering vehicle. SOLUTION: A steering mechanism 3i capable of each of front and rear wheels is provided, and target turning behavior G<SB>S</SB>(s), G<SB>Y</SB>(S) and a target turning directionαare individually set (steps S4, S5). The target turning behavior G<SB>S</SB>(s), G<SB>Y</SB>(s) is corrected according to the target turning directionαis corrected (a step S6). The steering mechanism 3i is drive-controlled to attain the corrected target turning behavior G<SB>S</SB>(s)', G<SB>Y</SB>(s)' (steps S8, S9). The target turning behavior G<SB>S</SB>(s), G<SB>Y</SB>(S) is set by setting a transmitting function according to vehicle speed first (a step S3) and then setting a target lateral sliding angle G<SB>S</SB>(s) and a target yaw rate G<SB>Y</SB>(s) according to the transmitting function and the steering angle (the step S5). COPYRIGHT: (C)2007,JPO&INPIT |
