Steering angle control apparatus for vehicle
First Claim
1. A steering angle control apparatus for a vehicle, which controls a steering angle of front wheels and rear wheels for a vehicle at which a slip restraining control for adjusting a longitudinal force of at least one of the wheels is executed in order to restrain a slip of the wheel and a μ
- split control is executed for executing the slip restraining control during the vehicle travels on a μ
split road having different frictional coefficients at a portion on which at least one of left side wheels rotates and a portion on which at least one of right side wheels rotates, comprising;
a first calculating means calculating the longitudinal force;
a second calculating means calculating a longitudinal force difference between said at least one of the right side wheels and said at least one of the left side wheels based on the longitudinal force;
a third calculating means calculating a contribution rate of the front wheels at the steering angle control and a contribution rate of the rear wheels at the steering angle control;
a fourth calculating means calculating a front wheel correction steering angle and a rear wheel correction steering angle based on the contribution rate of the front wheel, the contribution rate of the rear wheel, and a state quantity including the longitudinal force difference; and
a driving means outputting a control command value based on the front wheel correction steering angle and the rear wheel correction steering angle.
1 Assignment
0 Petitions
Accused Products
Abstract
A steering angle control apparatus for a vehicle includes a first calculating means calculating a longitudinal force, a second calculating device calculating a longitudinal force difference between at least one of right side wheels and at least one of left side wheels based on the longitudinal force, a third calculating device calculating a contribution rate of front wheels at a steering angle control and a contribution rate of rear wheels at the steering angle control, a fourth calculating device calculating a front wheel correction steering angle and a rear wheel correction steering angle based on the contribution rate of the front wheel, the contribution rate of the rear wheel, and a state quantity including the longitudinal force difference, and a driving device outputting a control command value based on the front wheel correction steering angle and the rear wheel correction steering angle.
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Citations
11 Claims
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1. A steering angle control apparatus for a vehicle, which controls a steering angle of front wheels and rear wheels for a vehicle at which a slip restraining control for adjusting a longitudinal force of at least one of the wheels is executed in order to restrain a slip of the wheel and a μ
- split control is executed for executing the slip restraining control during the vehicle travels on a μ
split road having different frictional coefficients at a portion on which at least one of left side wheels rotates and a portion on which at least one of right side wheels rotates, comprising;a first calculating means calculating the longitudinal force; a second calculating means calculating a longitudinal force difference between said at least one of the right side wheels and said at least one of the left side wheels based on the longitudinal force; a third calculating means calculating a contribution rate of the front wheels at the steering angle control and a contribution rate of the rear wheels at the steering angle control; a fourth calculating means calculating a front wheel correction steering angle and a rear wheel correction steering angle based on the contribution rate of the front wheel, the contribution rate of the rear wheel, and a state quantity including the longitudinal force difference; and a driving means outputting a control command value based on the front wheel correction steering angle and the rear wheel correction steering angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
- split control is executed for executing the slip restraining control during the vehicle travels on a μ
Specification