Automotive control system providing anti-skid steering

摘要

A control system for a four wheel steering system detects the occurrence of wheel slippage for sampling wheel speed data immediately before the occurrence of wheel slippage. The control system projects a vehicle speed on the basis of the sampled wheel speed data and a predetermined variation rate of the vehicle speed, and derives toe angle variation magnitude of a subsidiary steerable wheel on the basis of the projected vehicle speed and a steering angle of a primary steerable wheel.