| 摘要 |
A non-linear region controller 45 calculates a standard yaw rate from an actual steering angle thetar of steerable wheels detected by a steering angle sensor 10, a deviation from the standard yaw rate, of a yaw rate gammar detected by a yaw rate sensor 23, and a rate of change of the yaw rate deviation. Based upon calculated results, the non-linear region controller 45 determines whether tires of a traveling vehicle are in a non-linear region of tire characteristic, and if determining so, exercises a steering amount reduction control to reduce an actual steering angle thetar of the steerable wheels. The determination of linearity of tire characteristic can be made with comparative ease utilizing a commonly available sensor, and the vehicle is controlled using the determination result.
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