| 摘要 |
PROBLEM TO BE SOLVED: To provide a four-wheeled vehicle making a steering control for suppression of disturbance such as cross wind and enhancement in the total balance. SOLUTION: Front wheels and rear wheels are independently sliding-mode controlled based on a track deviation of an actual running track from a target track of a center of percussion of each of the front and rear wheels. The rear wheel is sliding-mode controlled based on the track deviation of the rear wheel. At this time, a non-linear gain is set so as to execute a smaller steer for the rear wheel in the same direction, thus achieving a suppression of disturbance and high total balance. COPYRIGHT: (C)2009,JPO&INPIT |
