| 摘要 |
PROBLEM TO BE SOLVED: To improve reliability of a vehicle control system.SOLUTION: In a rear wheel steering ECU, a first rear wheel steering angle acquired based on a detection value from a rotating angle sensor is supplied to a behavior control ECU, and in the behavior control ECU, a straight-traveling steering angle is acquired through learning by using a rear wheel steering angle, so as to perform vehicle behavior control. When disconnection time of the rotating angle sensor exceeds continuity guarantee time, a sensor value invalidation information flag is turned on and a previous value of the straight-traveling steering angle is held, so as to allow the vehicle behavior control. When the disconnection time exceeds disconnection determination time, a steering angle initialization request flag is turned on and a learning value of the straight-traveling steering angle is cleared, so as to prohibit the vehicle behavior control. When a difference between the first rear wheel steering angle and a rear wheel steering angle obtained based on a stroke of a tie rod increases, the steering angle initialization request flag is turned on, so as to prohibit the vehicle behavior control. As a result, decline in traveling stability of the vehicle can be successfully suppressed and reliability of a vehicle control system can be improved. |
