| 摘要 |
PURPOSE:To prevent the lowering of control accuracy by performing steering angle control by an auxiliary steering control means and braking force difference control by a braking force control means, and compensating slippage due to disturbance by a feedback control system. CONSTITUTION:A target yaw rate computing part 10a sets a target yaw rate constant on the basis of information from a steering angle sensor 11 and a vehicle speed sensor 13. A target rear wheel steering angle computing part 10b computes the target auxiliary steering angle of rear wheels on the basis of a vehicle model so as to obtain the target value of the rear wheel steering angle. This target value is applied, together with the rear wheel actual steering angle value obtained from the sensor 31, to the operation of a rear wheel actuator driving signal in a computing part 10p. A target wheel cylinder differential pressure computing part 10c computes the target lateral braking force difference corresponding to the deviation between the target yaw rate and the generated yaw rate and sends this together with the master cylinder pressure value of a pressure sensor 14 to a computing part 10d, where the target wheel cylinder pressure value is computed and applied, together with on-off information from a brake SW 12, to the operation of an ABS actuator driving signal computing part 10e. |
