| 摘要 |
PROBLEM TO BE SOLVED: To prevent the generation of abrupt lateral force in an inner wheel when recovering from lateral movement. SOLUTION: A steering device can steer right and left wheels independently, and an actual steering angle control part 31 controls actual steering angles of the right and left wheels based on a steering angle in this steering device. It is provided with a wheel load estimation part 36 for estimating wheel load of the inner wheel during lateral movement of the vehicle and an inner wheel slip angle estimation part 38 for estimating a slip angle for a road surface of the inner wheel. The actual steering angle control part 31 controls an actual steering angle of the inner wheel so that a slip angleβf ,r of the inner wheel estimated by the inner wheel slip angle estimation part 38 becomes a zero degree or below a predetermined angle when a roll angle and a roll angleϕobtained by a roll angle speed estimation part 37 are above a first set valueϕ1 . |
