| 摘要 |
PURPOSE:To shorten processing time with a computer by controlling the actual steering angle of wheels in such a way that the yawing motion and the lateral motion of a vehicle have desired characteristics on the basis of computation about a signal normal model. CONSTITUTION:From the detected value of a vehicle steering wheel operation angle thetas outputted from a steering angle detecting means 101 and a detected value V outputted from a vehicle speed detecting means 102, a combined momentum target setting means 103 sets up and outputs a target value (yr) for momentum in a combination of yawing and lateral motion, using a normal model. On the other hand, on the basis of output from a yawing momentum comparison value output means 104 and a lateral momentum comparison value output means 105, a combined momentum adding and comparison computing means 106 obtains and outputs a combined comparison value D in a complex motion condition. A steering angle instruction deciding means 107 gives a steering angle instruction value to a wheel steering means 108 and changes an actual steering angle so that no deviation exists between the target value (yr) and the combined comparison value D. |
