| 摘要 |
PURPOSE:To improve steering safety of a vehicle, by a method wherein rotation of a steering shaft is controlled by means of a steering force exerted on a steering handle and a steering force exerted on a rear surface by a road surface, and a steering angle of a rear wheel is controlled according to the rotary angle of the steering shaft. CONSTITUTION:A first control amount deciding means 11 is provided for deciding a first control amount by which a steering shaft 4 is rotated in a direction, in which a steering force is exerted, according to an output from a steering force sensor 8 attached on a steering shaft 4. A second control amount deciding means 12 is provided for deciding a second control amount by which the steering shaft 4 is rotated in a direction, in which the steering shaft is returned to a reference position, according to an output from a rear wheel steering reaction force sensor 9. The first and the second rotation control amount are inputted to a steering shaft rotation control signal output means 13 for synthesis to output a steering shaft rotation control signal from a steering shaft actuator 5. A rear wheel desired steering amount is decided by a deciding means 14 according to an output from a steering displacement amount sensor 10 detecting a rotary angle from the reference position of the steering shaft 4 to control a rear wheel steering mechanism 7. |
