| 摘要 |
PROBLEM TO BE SOLVED: To prevent the adverse effect on the steering stability by providing a front wheel steering angle detection means which detects a steering angle of a front wheel and increasing and compensating a control amount of a change means which is linked to a steering control means and the front wheel steering angle detection means and changed a control value in accordance with steering angle speed based on the detected steering angle of the front wheel as steering angle speed increases. SOLUTION: Signals from a steering wheel angle sensor 30 and a car speed sensor 31 are inputted in a control unit U. In the control unit U, a target rear wheel steering angle TGθR is computed based on a steering wheel angleθF (steering angle of a front wheel), car speed V, and yaw rateθ' while coefficients KF, KR are changed in accordance with car speed, and a control signal which corresponds to a rear wheel steering amount which is necessary in output in a servo motor 20. While an encoder 32 monitors whether the operation of the servo motor 20 is proper or not at all times, the steering of rear wheels 2L, 2R is done. Since time delay ofθ' forθF affects the steering stability adversely, compensation values r1, r2 which are changed in accordance with steering wheel angle speed are compensated by multiplying them by KP, KR. |
