| 摘要 |
PROBLEM TO BE SOLVED: To precisely cope with a case where abnormality is caused in an actuator and a sensor in a multi-wheel indepenent steering vehicle such as a four-wheel independentQ steering vehicle. SOLUTION: A zicrocomputer 47 respectively calculates a target steering angle of respective wheels Wf1, Wf2, Wr1 and Wr2 according to a steering angle of a steering wheel and a vehicle speed. Steering mechanisms 15a to 15d are controlled by using respective wheel steering angles respectively detected by wheel steering angle sensors 42a to 42d, and the respective wheels Wf1, Wf2, Wr1 and Wr2 are respectively and independently set-to the target steering angle. When abnormality is caused in a part of the steering mechanisms 15a to 15d and the wheel steering angle sensors 42a to 42d, influence by steering of the wheels corresponding to the abnormality caused mechanisms or sensors is negated by the left-right opposite side wheels, and the steering is continued by the front-rear opposite side left-right wheels, or the vehicle is forcedly stopped by controlling a braking force hydraulic control device. |
