| 摘要 |
PURPOSE:To prevent the phase delay at a high vehicle speed and a low steering frequency when a vehicle is controlled to follow the vehicle plane behavior set in the primary-delay normative model from becoming larger than that of a vehicle controlling no plane behavior at all to deteriorate the steering feeling. CONSTITUTION:A target vehicle behavior arithmetic section 4a calculates the yawing motion aimed in the primary-delay normative model from the steering angle theta and vehicle speed V, a rear wheel steering angle arithmetic section 4b instructs the rear wheel steering angle to attain it to an actuator 6 to steer the rear wheels via a rear wheel steering system 7. The target vehicle behavior arithmetic section 4a adds the advance element to the normative model, the phase delay at a high vehicle speed and a low steering frequency is prevented from becoming larger than that of a vehicle controlling no plane behavior at all, and the deterioration of the steering feeding can be avoided. |
