| 摘要 |
PURPOSE:To properly control a rear wheel steering angle in a relation to not only the yaw rate but also the car body side slip angle by correcting a gain in accordance with the car body side slip angle, in a rear wheel steering angle control device for controlling the rear wheel steering angle in accordance with a product of the yaw rate and yaw rate feedback gain. CONSTITUTION:A front wheel steering angle sensor 30, rear wheel steering angle sensor 32, car speed sensor 34, yaw rate sensor 36 and cross acceleration sensors 40, 42 are connected to an input part, and a step motor 20 is connected to an output part, of a controller 50. Various programs including rear wheel steering angle control and car body side slip angle estimating routines and various maps or the like including a map for determining a target rear wheel steering angle are previously stored in a ROM of the controller 50. Thus based on not only an obtained yaw rate but also at least one of an obtained car body side slip angle and differentiation thereof, a rear wheel steering angle is controlled. |
