| 摘要 |
<p>PROBLEM TO BE SOLVED: To suppress vibrations of a vehicle when the absolute steering angle is indeterminate. SOLUTION: This vehicle movement control device judges that the steering wheel is neutral if the vehicle is traveling straight forward for at least a given time Tαat a vehicle speed of Vαor more, setting the meanθFA for Tαas a neutral position angleθN. In the case where the neutral position angleθN is determinate, values which can be desired response characteristics for the 4WD vehicle are determinate as vehicle speed dependent constants for the transfer characteristics between the fore wheel steering angle and the yaw rate. Then, the rear wheel steering is carried out based on the absolute angleθF which is the difference between the relative steering angleθFA and the neutral position angleθN, and the transfer function. In the case where the neutral position angleθN is indeterminate, for the yaw rate gain Gψ' determining the yaw rate steady-state characteristics among the vehicle speed dependent constants,. a gain Gψ' (2WS) which can be a steady-state characteristics equivalent to those for the 2WD vehicle is set. Then the rear wheel steering is carried out based on this gain and the relative steering angleθFA.</p> |
