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Steering angle control apparatus

  • US 5,642,281 A
  • Filed: 01/13/1995
  • Issued: 06/24/1997
  • Est. Priority Date: 01/14/1994
  • Status: Expired due to Fees
First Claim
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1. A steering angle control apparatus for controlling steering angles of front wheels and rear wheels of a vehicle, said apparatus comprising:

  • a yaw rate detection means for detecting a detected yaw rate occurring in said vehicle;

    a first yaw rate estimation means for estimating a desired yaw rate for causing said vehicle to drive stably;

    a second yaw rate estimation means for estimating an ideal yaw rate of said vehicle for assuming an ideal driving condition;

    a disturbance estimation means for estimating a yaw rate disturbance which causes said detected yaw rate to deviate from said ideal yaw rate;

    a yaw rate compensation means for compensating said desired yaw rate based on said yaw rate disturbance to produce a compensated desired yaw rate; and

    steering angle control means for controlling said steering angles based on said compensated desired yaw rate.

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