| 摘要 |
PROBLEM TO BE SOLVED: To restrain a feeling of physical disorder given to an operator by determining a target steering angle of a rear wheel in such a manner that the time change rate is under a designated change rate when the voltage of a power supply changes from a value lower than a designated value to a value above the designated value in a system where the steering angle of a rear wheel is controlled by a driving means supplied with power. SOLUTION: A computer 10 in an electronic circuit unit EU is supplied with power from a battery 12 through a constant-voltage power supply 11. At this time, the voltage is monitored by a voltage determining device 13, and voltage determination result information V is sent to a computer 10. On the other hand, the computer 10 operates a target steering angle of a rear wheel 6 by using a front wheel steering angle signal A, a wheel side signal (v), an angular speed signalΩand a rear wheel actual steering angle signalθ, and an actuator 8 for steering the rear wheel 6 is controlled to reach a target steering angle. At this time, if the voltage of the power supply 11 changes from a value lower than designated voltage to a value above the designated value, a target steering angle is determined in such a manner that the subsequent target steering angle and the actual steering angleθis under the designated value to control the actuator 8. |
