| 摘要 |
PURPOSE:To secure high safety by assuming feed-forward control while the normative model output from a target value operating means is being used as it is, and thereby letting auxiliary corrections be made depending on the deviation between No.2 target value kept delayed from the normative model output and an actual value. CONSTITUTION:Respective detected values from a steering command detecting means 100 and a vehicle speed detecting means 101 are applied to a normative model wherein target dynamic characteristics are brought into a mathematical model so that a device is provided with an operation means 102 obtaining No.1 target value for the quantity of motion state. And the device is also provided with a determining means 103 determining a target value for steering angle manipulated variables required to materialize No.1 target value. The aforesaid No.1 target value is kept delayed by a specified time by means of a delay element 108 so as to be No.2 target value so that auxiliary manipulated variables are determined by a determining means 105 depending on the difference between the aforesaid No.2 target value and the detected value of the quantity of motion state by a detecting means 104. A wheel actual steering angle adjusting means 107 is controlled based on the target value corrected by a correction means 106 for the steering angle manipulated variables while following the auxiliary manipulated variables. |
