| 摘要 |
<p>PURPOSE:To remove difference which exists between turning easiness at the time of right turn and turning easiness at the time of a left turn and which is based on the difference of the right and the left of weight distribution, wheel alignment adjustment or the like, in the case of a four wheel steering device which gives an auxiliary steering angle by yaw rate feedback control at the time of front wheel steering. CONSTITUTION:A target yaw rate characteristic correcting means (j) which continuous the collection of monitor information in a turning state in which a regular yaw rate is generated, and when right and left turning monitor information surpasses a predetermined frequency, conducts the learning correction of at least one target yaw rate characteristic set at both target yaw rate characteristic setting means (e), (f) in order in a direction in which the same yaw rate is generated in right and left turns in regard to the same vehicle speed and steering angle on the basis of monitor information, is provided.</p> |
