| 摘要 |
PROBLEM TO BE SOLVED: To provide a rear-wheel steering control apparatus capable of suppressing discomfort in a vehicular behavior associated with steering while securing vehicular maneuverability.SOLUTION: A rear-wheel steering control apparatus includes: a rear-wheel steering device 30 for steering a rear wheel WR by driving a rear-wheel steering motor 31; and a rear-wheel steering controller 40 for operating the rear-wheel steering device 30 so as to steer the rear wheel WR with a first-order delay relative to a steering angle θ. Further, the rear-wheel steering controller 40 performs: calculating a rear-wheel steering angle target value δ(S) on the basis of a product of a steady-state gain α(θ) that is set so that a rear-wheel steering angle is changed with a pre-set characteristic in response to a front-wheel steering angle and a first-order delay-derived component {1/(1+τ*S)}θ that is set so than the rear-wheel steering angle is changed with a first-order delay relative to the front-wheel steering angle, and, in the case of an absolute value of steering angular velocity θexceeding an angular velocity determination value θ, decreasing the first-order delay-derived component proportionately as an absolute value of the steering angular velocity θincreases.SELECTED DRAWING: Figure 1 |
