| 摘要 |
PURPOSE:To obtain good turning performance regardless of the coefficient of friction of the surface of a road, by correcting the goal steering force of a rear wheel determined from the deviation of a rear wheel goal steering angle decided according to wheel speed and a front wheel steering angle, and a real rear wheel steering angle, in proportion to the change of the front wheel steering angle by time. CONSTITUTION:Respective steering angle detection means A, B for detecting the steering angles of a front wheel and a rear wheel, and a vehicle speed detection means C are provided. And a rear wheel goal steering angle decision means D decides the goal steering angle of the rear wheel in proportion to the steering angle of the front wheel and vehicle speed detected, and also a rear wheel steering force decision means E decides the goal steering force of the rear wheel in proportion to the deviation of the rear wheel goal steering angle and a real rear wheel steering angle. And a front wheel steering speed detection means F for detecting the change of the front wheel steering angle by time is provided, the steering force correction means G corrects the rear wheel goal steering force in proportion to the change by time in such a way that the goal force is set smaller when the change by time is bigger. The goal steering force after correction controls a driving means H to steer the rear wheel to its goal steering angle. |
