Patent ID: 6625529
Filing Date: 2003-09-23
Classification: B62D

Abstract:
An apparatus for controlling steering angles of front and rear wheels of a vehicle, in which the steering angles of the front and rear wheels are controlled independently, the apparatus comprising:a target steering angle operation unit configured to operate target steering angles of the front and rear wheels based on a manipulated variable of a steering wheel; a steering increase/steering return determination unit configured to determine as to whether steering is in an increase state where a direction of steering wheel manipulation and a direction changed thereby coincide with each other or in a return state where the direction of steering wheel manipulation and the direction changed thereby contradict each other; a target rotation center azimuth operation unit configured to operate a target rotation center azimuth to reduce a rotation center azimuth when the steering increase/steering return determination unit determines the steering increase state and to operate the target rotation center azimuth to increase the rotation center azimuth when the steering increase/steering return determination unit determines the steering return state; a vehicle behavior estimation unit configured to estimate a vehicle behavior based on the target rotation center azimuth; a corrected target rotation center azimuth operation unit configured to operate a corrected target rotation center azimuth by limiting the target rotation center azimuth so that the estimated vehicle behavior does not exceed a specified range; a corrected target steering angle operation unit configured to operate a corrected target steering angle by correcting the target steering angle so as to realize the corrected target rotation center azimuth; and a steering angle adjustment unit configured to adjust each of the steering angles of the front and rear wheels of the vehicle so as to realize the corrected target steering angle.