| 摘要 |
PURPOSE:To prevent the steering angle of rear wheels from increasing, by controlling the ratio of a steering gear in accordance with a desired steady-state steering gain value, a desired steady-state side slip angle value, a vehicle speed and a desired motion variable due to a motion characteristic which is previously set. CONSTITUTION:A desired steady-state steering gain value setting means 101 calculates a desired steady state steering gain value G corresponding to a vehicle speed V in accordance with a previously set steering characteristic. A desired steering gear ratio value computing means 102 computes a desired steering gear ratio value N in accordance with the above-mentioned value G, the vehicle speed V and a desired steady-state side slip value beta by using the specific items of the vehicle. A steering gear ratio changing means 103 sets the gear ratio at the desired value N. Meanwhile a desired motion variable value computing means 105 computes a desired motion variable value M corresponding to a motion characteristic which is previously set in accordance with the desired value G, the vehicle speed V and a steering angle thetas by a steering wheel. A computing means 106 computes a desired steering angle value deltaR in accordance with the desired values M, N, beta for rear wheels which are therefore steered to attain this value. |
