| 摘要 |
PURPOSE:To improve running stability by catching the front of a road on which a vehicle is now running as an image, and properly setting a rear wheel steering ratio according to the curving state of the road on which the vehicle successively runs. CONSTITUTION:When a device is started by an ignition key, the image in the front of a vehicle is taken from a video camera 11 to conduct the recognition processing of a road by a curve curvature detecting means 12. The image is formed into binary to search a lane-dividing line on the road and the road side ends in the image, whereby it is judged whether the road is recognized or not. When the road is recognized, the steering ratio is set to an initial characteristic set with the steering ratio characteristic as the standard. When the recognition of the road is judged, the curve curvature detecting processing is conducted by the detecting means 12, the steering ratio characteristic setting processing by a steering ratio characteristic setting means 13 is conducted by use of the curve curvature, and then the steering ratio of the rear wheels is set from the steering ratio characteristic and the vehicle speed by a steering ratio setting means 15. Then, the rear wheel control to the set steering ratio is conducted by an actuator 16. |
