| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To preclude a long duration of inappropriate control on the basis of the abnormal control amount in case the control amount has become an abnormal value while a steep change in the behavior of a vehicle is avoided. <P>SOLUTION: When abnormality has happened in which the steering angle of the left and right front wheels can not be controlled properly by a steering angle changing device 24 (S220), the target steering angleΔδt is decreased gradually so that the magnitude of the target steering angleΔδt is decreased gradually for each cycle (S270), and if the target steering angleΔδt is an abnormal value (S240), the presumed target steering angleΔδth is decreased gradually so that the magnitude of the presumed target steering angleΔδth is decreased gradually for each cycle (S250), and the presumed target steering angleΔδth is set at the target steering angleΔδt (S260), and the speed of the gradual decrease of the presumed target steering angleΔδth is higher than the speed of the gradual decrease of the target steering angleΔδt, and the presumed target steering angleΔδth is decreased quickly more than the target steering angleΔδt. <P>COPYRIGHT: (C)2006,JPO&NCIPI</p> |
