| 摘要 |
PURPOSE:To ensure the failsafe judgement by controlling the steering angle of rear wheels by the use of the yaw rate which is sensed by a yaw rate sensor, and judging the failure in the yaw rate on the basis of the actual yaw rate and presumed yaw rate. CONSTITUTION:To control the steering angle of rear wheels 5RL, 5RR in accordance with the turning angle of a steering wheel 12, for example, first the rear wheels 5RL, 5RR are steered in opposite phase to the front wheels 3FL, 3FR in compliance with the turn of the steering wheel 12, and the rear wheels are steered in the same phase when yawing is generated, wherein the steering angle of the rear wheels is controlled in accordance with the yaw rate. Therein the presumed yaw rate is calculated on the basis of the wheel speeds of the left and right follower wheels (rear wheel) 5RL, 5RR, and the actual yaw rate sensed by a yaw rate sensor 28 is compared with the presumed yaw rate to serve for judging if the yaw rate sensor 28 goes in failure. This performance of failure judgement can be done certainly. |
