| 摘要 |
<p>A target transmission steering angle calculation unit (51) calculates a target transmission steering angle (d*) from the steering angle (?) and vehicle speed (V). A corrected transmission steering angle calculation unit (52) calculates, in accordance with the vehicle speed (V), a transmission function (K(s)) constituting a second transmission function that outputs a correction transmission steering angle (dc), using as input a target transmission steering speed (d*') obtained by time differentiation of the target transmission steering angle (d*), using the difference between a transmission function (G(s)) constituting a first transmission function, determined using the parameters of the vehicle, that inputs the transmission steering angle (d) and outputs the yaw rate (?) of the vehicle, and the steady component (G(0)) of this transmission function (G(s)). The corrected transmission steering angle calculation unit (52) then calculates the correction transmission steering angle (dc) by multiplying the transmission function (K(s)) by the target transmission steering speed (d*'). A final target transmission steering angle calculation unit (53), by inputting the target transmission steering angle (d*) from the target transmission steering angle calculation unit (51) and inputting the correction transmission steering angle (dc) from the correction transmission steering angle calculation unit (52), calculates the final target transmission steering angle (dd) by adding this target transmission steering angle (d*) and correction transmission steering angle (dc).</p> |
