| 摘要 |
PURPOSE:To prevent completely the motion of a vehicle from being controlled to a direction against driver's will by updating the vehicle speed on the basis of the rotating speed of wheels and controlling the motion, and fixing the vehicle speed when a vehicle speed detecting device becomes abnormal or when the wheels are locked during turning. CONSTITUTION:A pulse signal PV0 from a rotation sensor 28 is supplied to the I/O port 36 of an arithmetic unit 34. This arithmetic unit 34 is a microcomputer, which normally servers as a steering angle controller for the rear wheels and processes the input signal according to a previously stored program to calculate the vehicle speed Vn. The vehicle 10 is provided with a front-wheel steering angle sensor 46 for detecting the steering angle of the front wheels 12 and 14 and a brake pedal switch 48 for detecting the operation of a brake pedal, and an engine 50 is provided with an engine rotation sensor 52 and a throttle sensor 54, whose outputs are supplied to the I/O port 36. A CPU determines the steering directions and steering angles of the rear wheels 16 and 18 and front wheels 12 and 14 on the basis of the vehicle speed Vn and the steering angle deltaf of the front wheels and a steering actuator 38 for the rear wheels vary the steering angle of the rear wheels 16 and 18. |
