| 摘要 |
PURPOSE:To enable stable control to be assumed by providing a steering control means controlling the steering angles of front and rear wheels with a means which operates the quantity of correction made to the steering angle based on not only a yaw moment coefficient operated on the basis of the whole driving force to right and left driving wheels and differential limiting force but also the quantity of vehicle running conditions. CONSTITUTION:In a four wheel steering control section 332 forming a controller 33 together with a differential limiting force control section 331, the vehicle speed V is operated by an operation section 33d based on right and left front wheel speeds NFL and NFR so that front and rear wheel reference angles deltafo and deltaro are operated by an operation section 33e based on a steering angle theta and the vehicle speed V. In addition, the whole driving force D is operated by an operation section 33f based on an accelerator opening A so that a moment coefficient Kd is operated by an operation section 33g based on the whole driving force D and a differential limiting force command value DELTAT. Then, the quantities of corrections made to the steering angle deltaf1 and deltar1 are operated by an operation section 33h based on the moment coefficient Kd, the steering angle theta and the like. Based on the result of the operations, corrections are made by an operation section 33i against the front are rear wheel reference steering angles deltafo and deltaro so that the final steering angles deltaf and deltar are obtained. |
