| 摘要 |
PROBLEM TO BE SOLVED: To control a higher vehicular posture not only by the rear steering by a rear wheel steering angle adjust mechanism but by utilizing the difference of the drive force of right/left rear wheels by a rear wheel drive force adjust mechanism and generating a target yaw moment. SOLUTION: A target yaw moment is generated by the steering of right/left rear wheels and the difference of the drive force of right/left rear wheels. Meantime, when the entire target yaw moment is made to 1, the target yaw moment is generated by the steering of the right/left rear wheels in response to a rear wheel steering distribution N. While, it is generated by the difference of the drive force of the right/left rear wheels, in response to a rear wheel drive distribution (1-N). This rear wheel drive distribution N is detected by a map. In the map, when the car speed V is slow, the rear wheel steering distribution N is made to low and the rear wheel steering distribution N is made to high as the car speed V becomes fast and in a certain constant speed or more, the rear wheel steering distribution is made to 1. This is that the rear wheel drive of a low speed type (wheel motor) and the rear wheel steering of a high speed type are distributed efficiently considering respective characteristics. |
