| 摘要 |
PURPOSE:To always and satisfactorily hold the steering stability by controlling the stability factor KS and the time constant T for determining a desired yaw rate in accordance with a vehicle running condition. CONSTITUTION:A desired yaw rate computing circuit 52 utilizes a steering angle 6 and a vehicle speed V from a steering angle detector 42 and a vehicle speed detector 43, and a stability factor KS and a time constant T from a parameter setting circuit 51 so as to calculate a desired yaw rate being based upon an equation for vehicle operation. A rear wheel steering control circuit 55 and a hydraulic control circuit 37 control steering for rear wheels and application of brake to all wheels in cooperation with a yaw rate detector 48, a subtracter 53 and a multiplier 54 so as to make the yaw rate of the vehicle coincident with the desired yaw rate. A parameter setting circuit 51 determines the stability factor KS and the time constant T in accordance with a vehicle speed V, a surface condition mu, h and longitudinal and lateral accelerations GX, GY delivered from detectors 43 through 48. |
