| 摘要 |
PROBLEM TO BE SOLVED: To facilitate the adjustment of the vehicle movement control, and to improve the operability at the time of controlling the dynamic characteristic and braking the vehicle by setting a target rear wheel steering angle while linearly connecting a first and a second target rear wheel steering angles for achieving the target value of the first and the second vehicle movement. SOLUTION: A first target rear wheel steering angle computing unit computes the first target rear steering angle for achieving the target yaw rate, and a second target rear wheel steering angle computing unit computes the second target rear wheel steering angle for achieving the target lateral speed. Continuously, the target rear wheel steering angle computing unit linearly connects the first target rear wheel steering angle and the second target rear wheel steering angle to each other so as to computes the target rear wheel steering angle, and while a following rear wheel steering angle servo computing unit performs the servo control so that the real rear wheel steering angle detected by a rear wheel steering angle sensor 9 coincides with the target rear wheel steering angle, and the control signal for controlling the rotating angle of the electric motor is output. |
