| 摘要 |
PURPOSE:To smooth the conversion of two-wheel and four-wheel steering modes by performing the steering control of rear wheels following the switching of the two-wheel and four wheel modes front wheels are being steered as soon as the front wheel steering angle is reduced. CONSTITUTION:A steering device (A) that steers front wheels and rear wheels, rear wheel steering device B, and controllder D are provided. The controller D selects a four-wheel steering mode that varies the rear steering angle according to the front wheel steering angle detected by a front wheel steering angle sensor C and a two-wheel steering mode that reduces the rear wheel steering angle to zero independently of the front wheel steering angle and controls the rear wheel steering device B. In this case, a mode switching indication means E that indicates mode switching and a switching control means F that receives the output of the mode switching indication means E and the front wheel steering angle sensor C and a switching control means F that outputs switching signals at mode switching when the front wheel steering angle reaches the vicinity of zero are also provided. As a result, the disturbance of running status caused by the sudden steering of the rear wheels is prevented. |
