| 摘要 |
PURPOSE:To better travel stability and rectilinear travelability at time of forward or backward movement by installing a sign setting means which sets a plus or minus sign of a desired rear-wheel steering angle to be calculated to the same sign as a detecting signal at time of forward movement but to the different sign at time of backward movement, respectively. CONSTITUTION:When a vehicle is in forward movement, symmetrical front wheels FW1, FW2 are steered in the right direction, and if the vehicle is in turning clockwise, a yaw being produced in a car body is of clockwise rotation and a detected yaw rate wy comes to plus, and when they are steered in the left direction and the vehicle is turned counterclockwise, the yaw rate omegay comes to minus, and symmetrical rear wheels RW1, RW2 are steered to the same phase with the symmetrical front wheels FW1, FW2. When the vehicle is in backward movement, the symmetrical front wheels FW1, FW2 are steered in the left direction, and if the vehicle is turning clockwise, the yaw being produced in the car body is of clockwise rotation, and the yaw rate omegay comes to plus, in addition, when they are steered in the right direction and vehicle in turned counterclockwise, the yaw rate omegay comes to minus, thus the symmetrical rear wheels RW1, RW2 are steered as the same phase with the symmetrical front wheels FW1, FW2. |
