Steering control method of the rear wheel of the car in the grip state of asymmetric brake

摘要

Steering control method of the rear wheel of the automobile which possesses, at least four steering possible wheels of this invention to detect the existence of grip power state of the asymmetric brake, 1st intermediate rear wheel steering angular specification (218) decide instantaneous speed of lengthwise of the automobile (212) steering angle of value and the nosewheel (214) on the basis of with value, yaw rate of the automobile (213) commotion (217) presume rear wheel steering angular specification before (215) as a function, as a function of the said commotion, 2ndIntermediate rear wheel steering angular specification (219) it decides, present rear wheel steering angular specification (220) it decides by correcting 1st intermediate rear wheel steering angular specification (218), 2nd intermediate rear wheel steering angular specification (219) with, present rear wheel steering angular specification (220), it includes the step which the rear wheel transmits one steering actuator (120) to at least.