| 摘要 |
PURPOSE: To stabilize the behavior of a turning vehicle with high lateral acceleration generated by providing a gain adjusting means for making a yaw rate feedback gain larger than one at the normal time upon judging the execution of operation having influence on driving force of a driver during high G turning at high speed. CONSTITUTION: A vehicle speed signal, and an actual yaw rate outputted from a vehicle 1 through a low-pass filter 6 are inputted to a turning lateral G judging circuit 5, and lateral G obtained therein is inputted to an F/B parameter adjusting circuit 7. A yaw rate F/B gain obtained by an F/B compensator 4 from vehicle speed and the difference between the actual yaw rate and a normal yaw rate outputted from a normal yaw rate computing circuit 3, that is, yaw rate deviation, is also inputted to the F/B parameter adjusting circuit 7. The F/B parameter adjusting circuit 7 obtains a feedback tuning gain according to specified procedure. An F/B gain obtained by multiplying the feedback tuning gain by the F/B gain, and an F/F gain outputted from an F/F compensator 2 are added and inputted to a rear wheel control device 11 so as to be inputted as a rear wheel steering angle to the vehicle. |
