| 摘要 |
PURPOSE:To improve steering property at almost stationary turning condition of a vehicle by controlling to steer rear wheels in the reverse phase direction to front wheels according to magnitude of lateral acceleration of a vehicle body, when the steering angle of front wheels is over a prescribed value and the steering angle speed of front wheels is under a prescribed value. CONSTITUTION:At operation of a vehicle, output signals of a handle angle sensor 31, a rear wheel steering angle sensor 32, a vehicle speed sensor 35 are input to a controller 33, front wheel steering angle is computed by dividing a handle angle 0 by gear ratio N of a steering gear 13, and front wheel steering angle speed is computed by differentiating the front wheel steering angle. Nextly, whether the front wheel steering angle is over a prescribed value and the front wheel steering angle speed is under a prescribed value or not, is judged, and whether the vehicle is nearly in constant turning condition or not is judged. In case of YES, a target steering angle is decided according to the lateral acceleration Yg of the body from a lateral acceleration sensor 34, and the rear wheel is steered in the reverse phase direction against the front wheel by controlling a motor 28. |
