| 摘要 |
PURPOSE:To expand an area wherein rectilinear stability is secured, in the case wherein a steering characteristic is set as such one as having a yaw-rate characteristic item. CONSTITUTION:A steering ratio thetaS is determined by a steering characteristic of thetaS=-C1.thetaH+C3.Y, by way of example. Among them, thetaH is a handwheel steering angle, Y a yaw rate and C1, C2 the control gain, respectively. A yaw- rate characteristic item functions as a component for increasing a phase quantity, and a steering angle characteristic item functions as a component for decreasing the phase quantity. At an area, where a rear-wheel slip angle betahas exceeded beta1, namely, a corresponding relationship between this slip angle betaand a cornering power CP comes to a non-linearity, the control gain C2 is made larger or the control gain C1 is made smaller, through which each phase quantity of rear wheels is increased. |
