| 摘要 |
PROBLEM TO BE SOLVED: To restrain over-steering tendency of a vehicle and improve steering stability by heightening more responsiveness of yaw rate restraining control of steering of a rear wheel as an absolute value of steering speed of a front wheel becomes larger, in the case when a state of the vehicle is judged as in an emergency avoiding state. SOLUTION: Whether a state of a vehicle is in an emergency avoiding state or not, that is, whether an absolute value of front wheel steering speed is more than a specified threshold value or not is judged by a rear wheel steering control device 20 furnished with a front wheel steering angle sensor 21, a front wheel steering speed sensor 22, a yaw rate sensor 23, an electronic control device 30 and a rear wheel actuator 40, and in the case when it is judged as YES, responsiveness of yaw rate restraining control by steering of a rear wheel is controlled. At this time, in the case when it is not in the emergency avoiding state, it is set so that responsiveness of yaw rate restraining control becomes lower as the absolute value of front wheel steering speed becomes larger. In the meantime, in the case when it is in the emergency avoiding state, it is set so that responsiveness of yaw rate restraining control becomes higher as the absolute value of front wheel steering speed becomes larger. |
