To prevent that the yaw velocity in the steady state becomes smaller as the steering angle of the steering wheel becomes larger.
A control circuit 16 calculates a limit value equivalent to a steering amount of a steering wheel, that is determined depending on road characteristics, when a yaw velocity becomes maximized when a vehicle direction is controlled based on the steering amount. This calculation is made based on a motion model in which the relation between a slipping speed of a wheel and a cornering force is linearly approximated, a steering angle δsw, and a vehicle speed v. Then the control circuit limits control amount so that a control amount for controlling the direction of the vehicle based on the steering amount would not exceed a control amount for controlling the direction of vehicle based on the limit value. At the same time, the control circuit controls a rear wheel steering mechanism 18 so that the rear wheels face a direction in accordance with the limited control amount.
ASANO KATSUHIRO
UMENO KOJI
YAMAGUCHI HIROYUKI
SUGAI MASARU
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