| 摘要 |
PURPOSE:To obtain an optimum steering angle, when either one steering angle control quantity of front or rear wheel reaches a predetermined value, by changing the other steering angle control characteristic in a manner wherein a change of the yaw rate characteristic of a vehicle is suppressed to a minimum limit. CONSTITUTION:A steering angle control device is provided with hydraulic actuators 11, 12, steering angle control quantity sensors 13, 14, hydraulic valves 15, 16 and a controller 20 which calculates an optimum steering angle control quantity by a car speed signal and a steering angle signal or the like outputting a control signal to the hydraulic valves 15, 16. The controller 20 has a control circuit separately performing respectively a front and rear wheel steering angle control with a car speed V, steering angle theta and a steering angle control quantity delta serving as the input information. This circuit includes a content in which when either one target steering angle control quantity of front or rear wheel reaches a limit value, the other steering angle control characteristic is changed in a direction of suppressing a change of the yaw rate characteristic of a vehicle to a minimum limit. |
