| 摘要 |
PURPOSE:To slow the behavior of a vehicle so as to avoid such an accident as disturbing safety operation of the vehicle by varying the controlling state of auxiliary steering so that the behavior gain of the vehicle for steering is lowered in the case of long continuous operation. CONSTITUTION:In response to a signal from a mode select switch 20 a controller 17 detects that the automatic mode is selected, and then varies a stationary yawing rate gain to a proper value through a control program. When a vehicle is stopped an operation timer is reset, while when the vehicle is operated the operation timer is counted up to measure the duration of operation and also the stationary yawing rate gain is lowered according to the duration of operation. The controller 17 then computes the steering angle of rear wheels using the stationary yawing rate gain and steers the rear wheels 2L, 2R; while the automatic mode is selected the stationary yawing rate gain therefore decreases as operation time elapses, and so the behavior of the vehicle for steering is slowed as the operation time elapses. |
