| 摘要 |
PURPOSE:To improve braking stability during turning and steering characteristics at the time of braking by computing a compensating steering angle to compensate the variation of the toe-in quantity of right and left rear wheels on the vertical displacement of each suspension mechanism for the right and left rear wheels and the longitudinal acceleration of a vehicle. CONSTITUTION:A rear wheel steering electric motor 21 for a rear wheel steering mechanism 20 is controlled by a microcomputer 36 on output signals sent from stroke sensors 31, 32 to detect the vertical displacement of a suspension mechanism for each of rear wheels RW1, RW2, a longitudinal acceleration sensor 33, a lateral acceleration sensor 34, and a rear wheel steering angle sensor 35. In the case of control, variation caused by the rolling of a body and braking in a rear wheel toe-in quantity is computed on the variation of stroke and the longitudinal acceleration, and a compensating steering angle to the variation of the rear wheel toe-in quantity is then computed using a positive constant expressing the variation of stroke, and the lateral and the maximum lateral acceleration. Thus the rear wheel is steered on the compensating steering angle to dissolve the influence of roll steering at the time of braking. |
