| 摘要 |
PURPOSE:To prevent the yawing motion from being affected when the lateral motion is changed by the change of the front sheel steering angle control mode in a steering angle control device setting the preset vehicle lateral motion via the front wheel steering angle control and setting the preset yawing motion via the rear wheel steering angle control. CONSTITUTION:A means 22 determines the target front whel steering angle deltaf for generating the preset lateral motion from the fransfer characteristic (1+TDS)/(1+TIS), a means 23 determines the auxiliary front wheel steering angle DELTAdeltaF eliminating the difference between it and the mechanical front wheel steering angle deltafo by a steering gear 4 to attain the front wheel actual steering angle deltaF=deltaf. A means 24 determines the target yawing motion phi2, a means 25 determines the rear wheel steering angle deltar necessary for attaining it from the target front wheel steering angle delta and vehicle speed V to attain the rear wheel actual steering angle deltaR=deltar. The rear wheel steering angle is determined in response to the target front wheel steering angle deltaf (equal to the front wheel actual steering angle deltaF), not to the mechanical front wheel steering angle deltafo. The yawing motion is not affected when the lateral motion is changed by the change of the transfer characteristic. |
