| 摘要 |
PROBLEM TO BE SOLVED: To reduce rolling resistance of wheels generated while a vehicle is turning by actuating a steering actuator that corresponds to each of a plurality of turning wheels so that all of the plurality of turning wheels are turned with a center of turning of plurality of turning wheels established based on the amount of operation of a steering wheel. SOLUTION: A center of turning, which is established at a position based on a steering angle of a steering wheel on an axis of rear wheels RL and RR, is determined by a distance R from a rear right wheel RR when a vehicle is turned clockwise and by the distance R from a rear left wheel RL when the vehicle is turned counterclockwise. Wheels are then turned so that the angle of each axis of a front right wheel FR and front left wheel FL satisfies the following formulae: tanθin=L/R and tanθout =L/R+W. This allows a center of turning of the front left wheel FL, front right wheel FR, rear left wheel RL, and rear right wheel RR to be aligned with each other when the vehicle turns. This prevents wheels from skidding that occurs as the vehicle turns, thus reducing rolling resistance of wheels. |
