| 摘要 |
PURPOSE:To perform precise and stable rear wheel steering control by estimating the vehicle body speed from the rotation of wheels, calculating the slip ratio of the wheels, controlling the braking force according to the calculated result, and performing the rear wheel steering control based on the estimated vehicle body speed. CONSTITUTION:The front wheel steering state and estimated vehicle body speed information from a steering angle sensor 5 are inputted to the 4WS controller 10 of a four-wheel-steered vehicle, the rear wheel steering angle is determined based on the preset steering ratio characteristic, a motor 4 is driven based on the rear wheel steering angle, and the steering of rear wheels 2R is controlled. An ABS device 20 controlling the brake liquid pressure is provided, it calculates the wheel speed and pseudo vehicle speed from the wheel speed information, it calculates the slip ratio and acceleration of each wheel, and it compares each calculated value and the brake control start threshold value to control the brake liquid pressure. The pseudo vehicle body speed determined by the above ABS control is used as the estimated vehicle body speed for the rear wheel steering control. |
