| 摘要 |
PROBLEM TO BE SOLVED: To improve the responsiveness and the stability by setting the ratio of the feedback coefficients of both feedback controls less than a set value, in the system in which the rear wheel steering angle is feedback controlled by a body side slip angle or a lateral acceleration, and a yaw rate. SOLUTION: When a rear wheel steering angle is madeδr , the front wheel steering angle is made f, the yaw rate is madeγ, and the body side slip angle is madeβ, it is composed to control the rear wheel steering angle depending on the expression;δr =Ks.δf +Kr.γ+Kb.β. (where, Ks is a feedforward control function. Kf is a feedback control function by the yaw rateγ, and Kb is a feedback control function by the body side slip angleβ). When the rear wheel steering is feedback controlled by two signals of either one of the body side slip angleβor the lateral acceleration, and the yaw rateγ, the ratio of the feedback coefficients of both feedback controls is set less than a set value. Consequently, the responsiveness and the stability are improved. |
