| 摘要 |
PURPOSE:To provide a rear wheel steering control device for a four-wheel steering car, with which the rear wheels are free from risk of any large scale of steering resulting from failure in a yaw rate sensor or missensing of the yaw rate and which can exerts the full steering function of the rear wheels even with eventual failure or missensing. CONSTITUTION:A microcomputer 35 calculates the yaw rate proportion value K1gamma in accordance with the yaw rate gamma sensed by a yaw rate sensor 32 and also calculates the front wheel steering angle proportional value K2thetaf in accordance with the front wheel steering angle thetaf sensed by a front wheel steering angle sensor 33. When the absolute ¦K1gamma¦ of the yaw rate proportion value K1gamma remains below the specific value alpha (around 1 deg.), the left and right rear wheels RW1, RW2 are controlled into the yaw rate proportion value K1gamma, and when the absolute value is larger than the specific value alpha, the left and right rear wheels RW1, RW2 are controlled into the front wheel steering angle proportion value K2thetaf. |
