| 摘要 |
PURPOSE: A method of controlling rear wheel steering angle of a 4-wheel steering system of a vehicle is provided to keep the lateral glide angle of a vehicle to the minimum in running on the basis of the cornering rigidity of a nonlinear tire. CONSTITUTION: A method of controlling rear wheel steering angle of a 4-wheel steering system of a vehicle comprises steps of detecting a lateral glide angle(alpha) from conditions of a vehicle body delivered from a vehicle speed sensor(4), a yaw rate sensor(6), and a steering angle sensor(5); deciding nonlinear lateral force(F(alpha)) of each wheel and deciding nonlinear cornering rigidity(C(alpha)) of each wheel, the nonlinear lateral force to the lateral slide angle; and delivering from the nonlinear cornering rigidity to a rear wheel steering angle to a controller(22) and delivering the rear wheel steering angle to the arithmetic stage of the rear wheel-lateral slide angle of the first step. The nonlinear lateral force has a magic formula of a determinant(P), a formation factor(G), rigidity factor(K), and curvature factor(R) from the lateral slide angle. |
