Steering angle control apparatus

摘要

A steering angle control apparatus for controlling steering angles of front wheels and rear wheels of a vehicle includes a yaw rate detector for detecting an actual yaw rate of the vehicle. A desired yaw rate calculator estimates a desired yaw rate for causing the vehicle to drive stably. A yaw rate disturbance calculator calculates a yaw rate disturbance which causes the detected yaw rate to deviate from an ideal yaw rate of the vehicle assuming driving in ideal driving conditions. A desired yaw rate compensator compensates the desired yaw rate based on the calculated yaw rate disturbance and produces a compensated yaw rate so that the desired yaw rate tracks the compensated yaw rate.