| 摘要 |
A rear wheel turning system for a four-wheel steered vehicle includes a rear wheel turning mechanism for turning the rear wheels of the vehicle, a front wheel turning angle sensor which detects a turning angle of front wheels theta F, a vehicle speed sensor which detects a vehicle speed V, a yaw rate detector which detects a yaw rate PSI of the vehicle, a yaw acceleration detector which detects a yaw acceleration PSI of the vehicle, and a control unit which causes the rear wheel turning mechanism to turn the rear wheels by a target rear wheel turning angle TG theta R which is defined by formula TG theta R=-K1 theta F+K2xVx PSI +K3xVx PSI wherein K1, K2 and K3 respectively represent positive coefficients. The coefficient K3 is increased with increase in the vehicle speed V over a predetermined range of vehicle speed where the coefficient K2 is constant. |
