| 摘要 |
PURPOSE:To achieve desired motion performance stably by obtaining a target steering angle of wheel on the basis of a target motion variable obtained on the basis of desired features of car and an actual motion variable. CONSTITUTION:Target motion variable M corresponding with the detected values thetas, V from steering amount detecting means 100 and car speed detecting means 101 is obtained through target motion variable operating means 102 in accordance to a motion formula of car employing desired features of car. Then, on the basis of said target value M and an actual motion variable M* of any one 106 of front or rear wheel detected through actual motion variable detecting means 103, target steering angle operating means 104 will operate the target steering angle delta of wheel 107 different from that to be detected through said detecting means 103. Thereafter, it is controlled such that the steering angle of the wheel 107 will be the target value delta by means of wheel steering means 105. |
