| 摘要 |
PROBLEM TO BE SOLVED: To suppress a large and abrupt change in a steering angle of an auxiliary steering wheel when a deviation between a target steering angle value and an actual steering angle value exceeds the predetermines value or when an actuator is set in an operable condition so as to inhibit an odd feeling given to a drive. SOLUTION: A rear rear wheel steering angle sensor 9 is mainly used, and then, its actual wheel steering angleδR is used for rear wheel steering angle control. In a steering shaft 16, a steering angle sensor 8 detecting a steering angleθof a steering wheel 15 is arranged. A target rear wheel steering angle computing circuit, by which a target rear wheel steering angleδ*R is computed from the steering angleθ, a vehicle speed Vc, and the like according to a computing process, is constructed. A reference control command value computing circuit, by which a rear wheel steering angle deviationΔδR between an output value from the target rear wheel steering angle computing circuit and the actual rear wheel steering angleδR from the rear wheel steering angle sensor 9 is computed by means of an adder-substructure, and on the basis of the rear wheel steering angle deviationΔδR, a reference control command value SRC to an actuator unit 1 (an electric motor 22 actually) is computed, is constructed. |
