| 摘要 |
PROBLEM TO BE SOLVED: To attain stable vehicle running by canceling an abnormal yaw moment with steering characteristics available for a four-wheel steering vehicle when the abnormal yaw moment not caused by driver's steering works on a vehicle body, in the four-wheel steering vehicle of which a pair of front wheels and a pair of rear wheels are steered with a front-rear steering angle ratio between them. SOLUTION: A front-rear wheel steering angle ratio corresponding to an actually measured yaw moment is calculated based on front wheel steering angles, a target yaw rate, a target slip angle and an actually measured yaw moment, and the front-rear wheel steering angle ratio is corrected so as to be suited to the obtained ratio. COPYRIGHT: (C)2006,JPO&NCIPI |
