FRONT AND REAR WHEEL STEERING ANGLE CONTROL DEVICE FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a front and rear wheel steering angle control device allowing a vehicle to run in no contact with obstacles therearound. SOLUTION: A target rotating radius calculating part 201 calculates a target rotating radius in accordance with the control input of a steering wheel 3, an obstacle position detecting part 202 detects the position of an obstacle around the vehicle, a vehicle trace predicting part 203 predicts the passing range of a vehicle as a vehicle trace. A rotational center position collection calculating part 204 calculates the collection of rotational center positions for avoiding the obstacle while achieving the target rotating radius in accordance with the position of the obstacle detected by the obstacle position detecting part 202 and the vehicle trace predicted by the vehicle trace predicting part 203. A target rotational center position selecting part 205 selects the target rotational center position from the collection of the rotational center positions and a front and rear wheel steering angle command value calculating part 206 calculates a front wheel steering angle command value and a rear wheel steering angle command value in accordance with the target rotational center position.