Controlling apparatus of steering angle of rear wheels of four-wheel steering vehicle

摘要

A steering angle of rear wheels of a four-wheel steering vehicle is controlled so that a quick response of an electric motor mounted in the rear wheels is achieved only when it is necessary, thereby avoiding wasteful consumption of power. In addition, a yaw rate feedback system is kept stable. When unstable vibration of the electric motor is detected, a gain to the yaw rate is adjusted.