| 摘要 |
PURPOSE:To eliminate the high gain feeling and the startling feeling by the yaw rate feedback control in the turning with medium to high transverse acceleration in a four-wheel steering device to provide the auxiliary steering angle by the yaw rate feedback control in steering the front wheels. CONSTITUTION:A four-wheel steering device is provided with a calculating means (h) of the auxiliary steering angle in response to the steering angle to calculate the auxiliary steering angle in response to the steering angle which becomes larger as the turning transverse acceleration becomes larger according to the vehicle speed and the steering angle, and a calculating means (i) of the targeted auxiliary steering angle to calculate the targeted auxiliary steering angle by correcting the yaw rate to be generated by the feedback auxiliary steering angle based on the targeted yaw rate stationary value in the reducing direction by the auxiliary steering angle in response to the steering angle. |
