| 摘要 |
PURPOSE:To provide a stable control continuously by performing a steering control mainly by a feed forward control whereby permitting a feed back control system to assist the feed forward control as required. CONSTITUTION:More than one kind of a target value S3 for the quantity of motion state is operated by a means 102 based on both a driver's command S1 detected by a means 100 and a car speed S2 detected by a means 101. And a command value S5 for the manipulated variable for steering angle of an objective wheel which is controlled to actualize the target value S3 with an objective car, is determined by a means 104. And furthermore, a command value S6 for the manipulated variable for a steering angle of the objective wheel which is controlled to actualize the target value S3, is determined by a means 105 while a detected value S4 for the quantity of motion state which is detected by a means 103 based on the target value S3 is being fed back. And each of the command values S6 and S6 obtained from the selected side corresponding to a change-over command S7 is applied to a wheel actual steering angle adjusting means 107 by a means 106. |
