| 摘要 |
PURPOSE:To correct a control target value of slip control by using a correction steering angle by determining a proper correction steering angle responding to the increase of a car speed and determining a correction steering angle, to which actual steering is added, when a steering angle is rapidly increased during high speed running. CONSTITUTION:A steering angle correction amount (p) is determined based on a steering angle correction amount map at S21. A correction steering angle thetaH1 (i) and a steering angle change amount DELTA thetah are determined at S22. A temporary correction steering angle thetaH2 (i) to which the change amount DELTAthetah is added is determined at S25. When a steering angle is rapidly changed, the temporary correction steering angle DELTAH2 (i) is provided to a steering angle thetafor control at S27. When a detected steering angle is not rapidly changed, the correction steering angle thetaH1 (i) is provided to the steering angle theta for control at S35. After a given time to starting from a time when a rate of change of a detected steering angle is reduced to approximate zero elapses at S29-S32, the temporary correction angle thetaH2 (i) is restored to the correction steering angle thetaH1 (i) at S33. |
