| 摘要 |
PURPOSE:To improve steering stability by providing a phase compensator for advancing the phase in the optional frequency band of the signal of a yaw rate sensor so as to advance the phase on the signal of the yaw rate sensor, and outputting a rear wheel steering angle command signal according to the output signal of the phase compensator, the steering wheel steering angle, and the vehicle speed. CONSTITUTION:In a four-wheel steering gear, bilateral front wheels 1 are steered by a front wheel steering gear 2 according to the operation of a steering wheel 4, and bilateral rear wheels 11 are steered by a rear wheel steering gear 10 according to a rear wheel steering angle command signal 6-a. In this case, a rear wheel steering angle command determining device 6 for determining a rear wheel steering angle command, and a phase compensator 7 are provided in a controller 9. The phase compensator 7 makes the output of a yaw rate sensor 8 into input and advances the phase in the optional frequency band of yaw rate sensor output, and the rear wheel steering angle command determining device 6 outputs the rear wheel steering angle command signal 6-a according to the output of a steering wheel steering angle sensor 3, a vehicle speed sensor 5 and the phase compensator 7. |
