ALL-WHEEL STEERING DEVICE OF VEHICLE

摘要

PROBLEM TO BE SOLVED: To stabilize a vehicle even if the vehicle tends to be instable due to the defective drive control of the steering angle of rear wheels. SOLUTION: This all-wheel steering device comprises: an electric power steering device which transmits the auxiliary torque of an electric motor to a front wheel steering system; rear wheel steering devices 120L, 120R which control the steering angle of left and right rear wheels according to at least the steering angle of the front wheels and a vehicle speed; and a steering control ECU 130 which controls the electric power steering device and the rear wheel steering devices 120L, 120R. The steering device further comprises; a sensor for detecting the yaw rate of the vehicle; a yaw rate feedback torque correcting and calculating part 72 for determining the defective state of the rear wheel steering devices 120L, 120R, calculating a yaw rate gain in the defective state, and calculating a corrected value IYin the defective state according to the yaw rate, the vehicle speed, and a yaw rate gain in the defective state; and an adder 63 for deducting the target value of the auxiliary torque by the corrected value IY. COPYRIGHT: (C)2009,JPO&INPIT