| 摘要 |
PROBLEM TO BE SOLVED: To steer rear wheels while suppressing power consumption of a motor even in ultra-low speed traveling. SOLUTION: A basic target rear wheel steering angleδr0*(n) is calculated from a steering wheel steering angleθh (S401). A tire rolling distance X is calculated from count values Npl, Npr of pulse signals output by wheel speed sensors of right and left rear wheels (S402). The value obtained by multiplying the tire rolling distance X by a gain G is made a permissible steering angle variation G*X, and when the difference between the basic target rear wheel steering angleδr0*(n) and the target rear wheel steering angleδr*(n-1) of the most recent time is larger than the permissible steering angle variation G*X (S403: Yes), the target rear wheel steering angleδr*(n) is calculated by adding or reducing the permissible steering angle variation G*X to or from the target rear wheel steering angleδr*(n-1) of the most recent time (S406, S407). COPYRIGHT: (C)2010,JPO&INPIT |
