| 摘要 |
PURPOSE:To enhance the reliability of an actual yaw-rate value by a method where the actual yaw-rate value is computed on the basis of a yaw-rate-sensor output value and of individual roll and pitch correction factors and the influence of a roll and a pitch is removed. CONSTITUTION:A motor 19, a fail-safe solenoid 20 and the like are installed at a rack tube 17 in which a rack shaft 12 connecting a part between rear wheels 9, 10 has been inserted. A controller 26 to which signals from individual subsensors and main sensors 21 to 24 for a vehicle velocity, a front-wheel steering angle and a rear steering angle, from a yaw-rate sensor 25, from a transverse acceleration sensor 28 which detects a roll-rate equivalent value and from a front-and-rear acceleration sensor 29 which detects a pitch-rate equivalent value are input drives 3 and controlls the solenoid 20. When a vehicle is running, the sensor 25 which has been installed perpendicularly to the plane of the vehicle, detects a yaw rate which is applied to the vehicle. The controller 26 decides a roll correction factor and a pitch correction factor which assist in a direction always perpendicular to the plane of the vehicle on the basis of the individual roll-rate and pitch-rate equivalent values, and it computes an actual yaw-rate value on the basis of the output value of the sensor 25. |
