| 摘要 |
PURPOSE:To prevent malfunction in auxiliary steering by prohibiting feedback control on the auxiliary steering according to yaw motion detected by a yaw motion sensor when a temperature reaches a range such as the yaw motion sensor causes drift exceeding an allowable limit. CONSTITUTION:A controller 6 carries out auxiliary steering on rear wheels 2L and 2R through an actuator 5 according to a yaw rate phi and a vehicle speed V. However, when a yaw rate sensor temperature detected by means of a detector 9 reaches outside of a prescribed range, the yaw rate detected by means of a yaw rate sensor 8 becomes inaccurate due to temperature drift, so that by prohibiting feedback control according to this detected yaw rate, malfunction in the auxiliary steering can be prevented. |
