| 摘要 |
PURPOSE: To improve the safe traveling property by obtaining the steering variables on the present traveling condition from the yawing angle, the yawing angular velocity and the yawing angular acceleration, and supplying it to an actuator. CONSTITUTION: A notational motionα(t) of a vehicle around the perpendicular axis of the vehicle is measured using a sensor 105. Then, various traveling conditions, for example, a condition when a steering wheel 206 is fixed to the position r0 substantially corresponding to zero, a condition when it is fixed to the position r0 not equal to zero, and a condition when the steering wheel is rotated, are classified, and whether or not the angle is changed with the time t in every condition is examined. At least one steering displacement amount [X(t)] related to the present traveling condition of the vehicle is supplied to an actuator 102. The steering displacement amount is related to at least one variable to indicate the yawing angle [αG(t)], the yawing angular velocity [(αG'(t)] and the yawing angular acceleration [αG"(t)]. |
