| 摘要 |
PURPOSE: To reduce a burden applied to an actuator for steering a rear wheel so as to attain extending a life of this actuator, by controlling a target steering amount to a contraction side by a target steering amount suppressing means, when a lateral force decreased condition, that maximum lateral force generatable in the rear wheel is decreased to a prescribed value or less, is detected by a lateral force decreased condition detecting means. CONSTITUTION: When control of ABS is executed in a rear wheel side (S240), a control device serves as a lateral force decreased condition detecting means for a rear wheel. Next, a hold value Khold is set to a variable K2 (S270), to calculate a target steering angleθr of the rear wheel (S280), and thereafter based on a difference from an actual rear wheel steering angle read from a rear wheel steering angle sensor 60, a voltage signal is output to a rear wheel steering actuator from an output interface (S290). These constituted a yaw rate feedback gain suppressing means, to control the target steering angleθr to a contraction side. Here by eliminating worsening a control effect and further in addition by reducing a burden to the rear wheel steering actuator, its life is extended.
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