| 摘要 |
PURPOSE:To maintain steering stability by continuing a rear-wheel steering control means as stopping a slip factor control means, while providing a fail judging means for stopping both these slip factor and rear-wheel control means in response to the fail of a wheel speed signal of each driven wheel. CONSTITUTION:In a step S2, whether a wheel speed sensor 25 of each driving wheel fails or another wheel speed sensor of each driven wheel fails or not is examined. Sensors of both driving and driven wheels all fail, it means DW fail = TW fail =1, so that ABS/TRC control is stopped by a step S4, and combinedly rear-wheel steering control is also stopped by a step S6. In a step S8, it is set to ACTIVE = 0. As an ABS/TRC controller is stopped, ACTIVE being outputted by the controller is 0, and ACTIVE being outputted by a wheel speed operation/fail judging part is also 0, so at the side of a control unit U1, the ACTIVE is processed as 0. |
