| 摘要 |
PURPOSE:To prevent the rear wheel steering angle to cancel the force by the gravity acceleration by regarding it as the low frequency disturbance from being given when a vehicle which executes the feedback compensation in controlling the rear wheel steering angle travels on the curved road with bank. CONSTITUTION:A compensator 4 has the transfer characteristic of the transfer function of the band pass filter multiplied by the reverse characteristic of the transfer function to express the behavior response to the rear wheel steering of the vehicle, and the rear wheel steering angle delta1 which is required for the vehicle behavior to follow the steering response of the specified model is obtained from the vehicle speed V and the steering angle theta detected by sensors 2, 1. A presuming part 5 presumes the vehicle behavior ym based on V, theta and the rear wheel steering angle command value delta, and a compensator 7 obtains the rear wheel steering angle modified quantity delta2 based on the deviation (e) between this presumed behavior ym, and the vehicle behavior (y) detected by a sensor 3. A rear wheel steering angle command value computing part 8 obtains the rear wheel steering angle command value delta from the expression delta=delta1-delta2. |
