| 摘要 |
PROBLEM TO BE SOLVED: To improve the stability of a vehicle in the turning time securely by carrying out a necessary correcting steering adequately while preventing the unnecessary correcting steering, and thereby, by preventing the reduction of the lateral force of a steering wheel effectively. SOLUTION: Front wheels are correcting steered (S170), by operating the object yaw rateγt of a vehicle (S80), a correcting steering angleθa is operated depending on the deflectionΔγt of the object yaw rateγt and the detected yaw rateγ(S90), and the correcting steering device 24 is controlled depending on a correcting steering angleθa. When the correcting steering angleθa exceeds a limit valueθap in the left turning direction, the correcting steering angleθa is set to the limit valueθap, and when the correcting steering angleθa is less than the limit valueθam in the right turning direction, the correcting steering angleθa is set to the limit valueθam (S100 to S130). The rates of change of the limit valueθap and the limit valueθam are regulated to a specific increase rateΔθu and a specific reduction rateΔθd by a gradual variation operation(S156 and S160). |
