| 摘要 |
PURPOSE:To improve yaw responsiveness while holding stability by increasing a steering angle according to increase thereof, in the case of the steering angle in a small change, and also suppressing the increase, in the case of the steering angle in a large change, when steering is operated. CONSTITUTION:A steering handle 11 is connected to a steering gear mechanism housed in a front gear housing 13F. A steering angle sensor 14 and a steering speed sensor 15 are provided in a steering shaft 12. Further, car speed sensors 19FL to 19RR are provided in each wheel 17FL to 17 RR. On the other hand, a rear wheel steering angle sensor 24 is provided in a rear gear housing 13R. A controller 20 performs control of an electric motor in the gear housing 13R, that is, steering control of the rear wheel based on each detection signal from each of the above-mentioned sensors 14, 15, 19, 24. Here at the time of operating steering, a steering angle is increased according to increase thereof, in the case of the steering angle in a small change, and also suppressing the increase in the case of the steering angle in a large change. |
