| 摘要 |
PURPOSE:To improve the extent of steering performance by learning a turning angle of a steering shaft as a neutral position at that time when rectilinear running is performed as long as the specified time at more than the specified speed, and afterward, making a steering angle so as to be operated with this neutral position as a criterion. CONSTITUTION:In a TCL 58 which inputs each output signal of an accelerator opening sensor 59, front-wheel turning sensors 62, 63, rear-wheel turning sensors 66, 67 and a steering angle sensor 70, and calculates the desired drive torque of an engine 11, there is provided a steering angel operational means. Under the condition that traveling is performed as long as the specified time in a state that travel speed information is more than the specified value after travel starting and speed differential information on both symmetrical driven wheels is less the specified value, a position of the steering shaft detected by the steer ing angle sensor 70 is set down as a neutral position, through which the first time learning is performed, finding a steering angle. At time of learning the neutral position after the second time, it is made so as to do a mere increase or decrease of angle as far as the specified value to the neutral position of the steering shaft obtained by the first time learning. |
