| 摘要 |
PURPOSE:To realize excellent responsiveness and stability of the yaw motion by executing the feed-forward control of the rear wheel steering by the front wheel steering angle and the vehicle speed, and executing the feedback control of the driving force distribution by the detected yaw rate. CONSTITUTION:A microcomputer 57 determines the rear wheel steering quantity based on the detected values of a front wheel steering angle sensor 51 and a vehicle speed sensor 52, and this determination allows the steering control of rear wheels RW1, RW2. At the same time, the driving force distribution is feed-back controlled based on the detected value of a yaw rate sensor 56 so that the difference between the actual yaw rate and the target yaw rate may be eliminated. In a rear wheel steering mechanism 40, a power cylinder 43 improves the responsiveness by direct steering of the rear wheels RW1, RW2. On the other hand in the driving force distribution, a pressure control valve 25 changes the transmitted torque by controlling the pressure to a wet-type multi-branched clutch 23 provided in a sensor differential 14 by means of a driving system control circuit 58, and improves the stability by increasing the effect to the yaw motion. |
