| 摘要 |
PURPOSE:To carry out the optimum rear wheel steering angle control depending on an accurate yaw rate by correcting a drift of a yaw rate sensor. CONSTITUTION:A front wheel steering angle sensor 1, a yaw rate sensor 2, and a controller 3 to control the rear wheel steering mechanism 10 electrically depending on the output values of the front wheel steering angle sensor 1 and the yaw rate sensor 2, are provided. And a brake lamp switch 5, and wheel speed sensors 6 and 7 to detect the rotation speeds of the rear wheels 13 and 14 are connected to the controller 3. And when the controller 3 detects the condition that the brake lamp switch 5 is OFF, and the difference of the rotation speeds of the rear wheels 13 and 14 is zero for a specific time, a specific average value of the output values of the yaw rate sensor 2 for that period is made as the value of the yaw rate zero, and the correction at the yaw rate zero point is carried out, and furthermore, the yaw rate value is corrected thereafter by making the zero point as the standard. |
