Abstract:
The control system of a vehicle according to the present invention controls the transmission ratio of the steering angle of a steering wheel relative to a turning angle of front wheels based on a drive force distribution ratio. Thus, the performance of the tires on the front wheels can be used to almost maximum potential, providing effective prevention of understeering. The present invention provides a steering system that limits understeering effectively.

Description:
INCORPORATION BY REFERENCE  
       [0001]     The present application claims priority under 35 U.S.C. §119 to Japanese Patent Application No. 2004-151242 filed on May 21, 2004. The content of the application is incorporated herein by reference in its entirety.  
       BACKGROUND OF THE INVENTION  
       [0002]     The present invention relates to a vehicle control system having a transmission ratio between a handle and front wheels that changes according to a running state of the vehicle.  
         [0003]     An example of a conventional vehicle control system of this type is one in which a transmission ratio between the handle and the front wheels changes according to the vehicle velocity (see Japanese Laid-Open Patent Publication Number Hei 11-91604, Section [0020]). In another example, the vehicle can switch between two-wheel drive and four-wheel drive based on the operating state (see Japanese Laid-Open Patent Publication 2003-127690, Section [0002] and FIG. 1).  
         [0004]     In a vehicle control system developed by the present applicants, various information relating to the operating status of the vehicle is used to detect (or estimate) the grip factor of the front wheels and to determine if there is understeering. If there is understeering and an insufficient grip factor, the transmission ratio is changed so that the same steering operation magnitude results in a small amount of steering in the front wheels, thus preventing understeering from becoming more pronounced.  
         [0005]     While the front-wheel grip factor can change in response to a change in the two-wheel/four-wheel drive status, the vehicle control system does not take changes in drive status into account. Thus, when there is a switch to two-wheel or four-wheel drive, a delay takes place in the transmission ratio, making it difficult to effectively limit understeering.  
       SUMMARY OF THE INVENTION  
       [0006]     The present invention overcomes the problems described above and provides a vehicle control system that makes it possible to limit understeering more effectively as compared to conventional technology.  
         [0007]     A vehicle control system according to an embodiment of the present invention includes drive distributing means (drive distributor) distributing a drive force from a drive source to a front wheel and a rear wheel so that a distribution ratio can be changed and means for changing a transmission ratio (transmission ratio changer) based on drive force distribution controlling a transmission ratio of a turning angle of the front wheel relative to a steering angle of a steering wheel based on a distribution ratio of the drive force.  
         [0008]     The “transmission ratio” in the present invention refers to the “ratio” of the “turning angle of the front wheel relative to the steering angle of the steering wheel” and is defined by the following equation: 
 
[Transmission ratio]=[Turning angle of front wheel]/[Steering angle of steering wheel]
 
         [0009]     The vehicle control system as described above can include understeering detecting means (understeering detector) detecting understeering and means for changing transmission ratio (transmission ratio changer) based on understeering changing the transmission ratio downward when understeering is detected by the understeering detecting means (understeering detector). When understeering takes place, means for changing transmission ratio (transmission ratio changer) based on drive force distribution corrects a reduction to the transmission ratio performed by means for changing transmission ratio (transmission ratio changer) based on understeering.  
         [0010]     In the vehicle control system described above, the means for changing the transmission ratio (transmission ratio changer) based on drive force distribution applies correction so that reduction of the transmission ratio is greater when the drive distribution ratio to the front wheel increases and so that reduction of the transmission ratio is less when the drive distribution ratio to the front wheel decreases.  
         [0011]     As shown in  FIG. 7 , a cornering force Fb (friction) is applied from the road surface in the width axis of a tire in response to the centrifugal force that takes place when cornering. In the tire perimeter direction, there is a drive force Fa (friction) from the road surface due to the drive on the tire. The degree of the grip factor drops the closer the magnitude of the vector sum Fab of the drive force Fa and the cornering force Fb approaches the friction limit Fmax. In other words, the limit of the cornering force Fb to prevent a reduction in the degree of the grip factor is determined from the tire friction limit Fmax and drive force Fa.  
         [0012]     Also, it is known that the cornering force Fb of the front wheel and the slip angle (the angle in the turning direction of the wheel relative to the direction of motion of the vehicle—see βf of  FIG. 5 ) of the front wheel establish the relationship shown in the line graph in  FIG. 8 . More specifically, as the front wheel is turned with a steering operation and the slip angle βf increases, up to a certain point the cornering force increases together with the increase in the slip angle, resulting in the vehicle turning according to the slip angle βf. When the vector sum Fab reaches the limit Fmax or if the slip angle of the front wheel increases, the cornering force Fb is saturated. In other words, despite the driver&#39;s intention, turning the steering wheel does not turn the vehicle, thereby resulting in understeering.  
         [0013]     With a vehicle in which the drive distribution ratio to the front wheel and the rear wheel is variable, a reduction in the drive distribution ratio to the front wheel also reduces the drive force Fa applied to the front wheel. As shown in  FIG. 7 , as the drive force Fa of the front wheel is reduced by ΔFa to become Fa′, that reduction increases the force that can be used as the cornering force Fb in the friction circle. As a result, the amount of turn of the vehicle can be increased.  
         [0014]     The vehicle control system described above takes advantage of how the limit to turning ability changes depending on the drive distribution ratio to the front wheel. Thus, the transmission ratio of the turning angle of the front wheel relative to the steering angle of the steering wheel is controlled based on the drive distribution ratio. As a result, almost full advantage can be taken of the tire performance of the front wheels, and understeering can be limited in an effective manner.  
         [0015]     In the vehicle control system described above, if understeering takes place, the means for changing transmission ratio (transmission ratio changer) reduces the transmission ratio in response to the understeering so that even if the steering wheel is operated, the front wheel makes only a relatively small turn. As a result, saturation of the cornering force is restricted and understeering can be limited. Also, means for changing transmission ratio (transmission ratio changer) based on drive force distribution corrects the transmission ratio reduction effected by means for changing transmission ratio (transmission ratio changer) in response to understeering. As a result, when the cornering force limit value in the friction circle changes as a result of a change in distribution ratio, the transmission ratio can be changed quickly in response to the change, making it possible to limit understeering in an effective manner.  
         [0016]     More specifically, the cornering force limit value in the friction circle decreases when the drive distribution ratio to the front wheel increases. In such cases, in the vehicle control system described above, the amount of reduction to the transmission ratio is corrected upward so that the front wheel can be turned only by a relatively small amount. This limits understeering. If, on the other hand, the drive distribution ratio to the front wheel is reduced, the cornering force limit value increases. In such cases, the vehicle control system described above corrects the transmission ratio reduction downward so that the front wheel can be turned by a relatively large amount. As a result, the vehicle becomes easier to turn and its path can be changed from an understeering path to a path approaching that of neutral steering.  
         [0017]     The above, and other objects, features and advantages of the present invention will become apparent from the following description read in conjunction with the accompanying drawings, in which like reference numerals designate the same elements. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0018]      FIG. 1  is a simplified diagram showing a steering system and a drive system according to an embodiment of the present invention;  
         [0019]      FIG. 2  is a partially cut-away perspective drawing of an actuator according to an embodiment of the present invention;  
         [0020]      FIG. 3  is a flowchart of a transmission ratio changing program according to an embodiment of the present invention;  
         [0021]      FIG. 4  is a block diagram showing the control structure of an actuator ECU according to an embodiment of the present invention;  
         [0022]      FIG. 5  is a simplified drawing showing front wheel and rear wheel slip angles according to an embodiment of the present invention;  
         [0023]      FIG. 6  is a simplified drawing showing paths of a vehicle at a corner according to an embodiment of the present invention;  
         [0024]      FIG. 7  is a vector line drawing showing the relationship between drive friction force and cornering friction force according to an embodiment of the present invention; and  
         [0025]      FIG. 8  is a graph showing the relationship between cornering force and slip angle according to an embodiment of the present invention. 
     
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT  
       [0026]     Referring to  FIG. 1  through  FIG. 8 , an embodiment of the present invention will be described.  
         [0027]      FIG. 1  shows the main elements of a steering system and a drive system of a vehicle  10  according to an embodiment of the present invention. First, the structure of the drive system will be described. In this vehicle  10 , an engine  11  (corresponding to the “drive source” of the present invention) is installed to the front (to the left in  FIG. 1 ). A transaxle (not shown in the figure) is integrated with the engine  11  and includes a transmission, a transfer case, and a front differential. The drive force of the engine  11  is transmitted to front-wheel drive shafts  13 ,  13  and the front wheels  14 ,  14  by way of the transmission and the front differential.  
         [0028]     The transfer case of the transaxle is connected to the front end of a front propeller shaft  18 . The rear end of the front propeller shaft  18  is connected to a rear propeller shaft  19  by way of a clutch  20  (corresponding to the “means for distributing drive” or drive distributor). Furthermore, the rear end of the rear propeller shaft  19  is connected to a rear differential  17 . Rear wheels  15 ,  15  are attached to the ends of rear-wheel drive shafts  16  extending to the left and right from the rear differential  17 .  
         [0029]     In the clutch  20 , the section that is connected to the front propeller shaft  18  serves as the input section and the section connected to the rear propeller shaft  19  serves as the output section. By electronically changing the engagement force of the clutch  20 , the distribution of the running drive force transmitted from the engine  11  to the front wheels  14  and the rear wheels  15  can be changed.  
         [0030]     The clutch  20  is controlled based on the 4WD (four wheel drive) status determined by an ECU  49  used to change drive distribution. ECU is an acronym for “electric control unit”. The 4WD status consists of data relating to the drive distribution ratio to be transmitted from the engine  11  to the front wheels  14  and the rear wheels  15 . For example, in normal operation when the vehicle is running straight at a fixed speed, the 4WD status is set so that the drive distribution to the front wheels  14  and the rear wheels  15  is 100:0. This results in the clutch  20  being in a disconnected state in response to the 4WD status, with the distribution ratio of the drive transmission from the engine  11  to the front wheels  14  being 100% while the distribution ratio of the drive transmission from the engine  11  to the rear wheels  15  being 0%. In other words, the vehicle is put in a two-wheel drive state where only the front wheels  14  are driven.  
         [0031]     When the ECU  49  detects slippage in the front wheels  14  or the like, the 4WD status is changed from 100:0 to, for example, 50:50. Then, based on this 4WD status, the clutch  20  enters either a “half-clutched” state or a fully connected state. As a result, torque from the engine  11  is transmitted to the rear wheel  15  as well. If the clutch  20  is put in a fully connected state, the drive distribution ratio transmitted from the engine  11  to the front wheels  14  and the rear wheels  15 , in this Example, become 50:50, providing a full four-wheel drive state.  
         [0032]     Next, the structure of the steering system is described. The steering system  30  of this embodiment includes an electronic power steering device  32  and an actuator  33  for changing the transmission ratio.  
         [0033]     As shown in  FIG. 2 , the actuator  33  is formed from a differential speed reducer  80  and a servo motor  81  that drives the speed reducer  80 . The speed reducer  80  is equipped with a cylindrical output rotation module  83  inside a cylindrical case  82 , with an input rotation module  88  disposed inside of that. A stator  85  of the servo motor  81  is integrated with the cylindrical case  82  of the speed reducer  80 , and a rotor  84  of the servo motor  81  is secured to the input rotation section  88 . Also, the inner perimeter surface of the cylindrical case  82  and the inner perimeter surface of the output rotation section  83  are formed with differential gear teeth  82 A,  83 A with different teeth counts. The input rotation section  88  presses against a section of the inner perimeter surface of the output rotation section  83 , and the differential gear teeth  82 A,  83 A mesh against the input rotation section  88  at the pressed section. The rotation of the input rotation section  88  in tandem with the rotation of the rotor  84  changes the meshed section of the differential gear teeth  82 A,  83 A. Each time the input rotation section  88  makes one rotation, the output rotation section  83  rotates relative to the cylindrical case  82  and the stator  85 , with the rotation being determined by the different teeth counts of the differential gear teeth  82 A,  83 A.  
         [0034]     The stator  85  of the servo motor  81  is integrally secured to a steering wheel  31  (see  FIG. 1 ) by way of an input-side steering shaft  34 . Also, an output-side steering shaft  35  extends from the output rotation section  83  of the speed reducer  80 , and the end of the output-side steering shaft  35  is connected to the input-side pinion gear (not shown in the figure) of the electronic power steering device  32  (see  FIG. 1 ). When the steering wheel  31  is steered, the servo motor  81  is driven so that the input-side and output-side steering shafts  34 ,  35  turn relative to each other, and the sum of the rotation angle of the steering wheel  31  and the relative rotation of the actuator  33  (hereinafter referred to as the “ACT angle”) is applied to an input pinion gear (not shown in the figure) of the electronic power steering device  32 .  
         [0035]     As shown in  FIG. 1 , the middle portion of the input-side steering shaft  34  is equipped with a steering angle sensor  36  for detecting the steering angle of the steering wheel  31 . The end of the output-side steering shaft  35  is equipped with a torque sensor  37  for detecting steering torque. The input pinion gear described above is rotatably disposed at the axial center of the torque sensor  37 .  
         [0036]     The electronic power steering device  32  is equipped with a rack shaft that extends along the left/right axis of the vehicle  10 , and the input pinion gear described above meshes with a rack gear formed on the rack shaft. Tie rods  32 R,  32 R, extending from the ends of the rack shaft, are connected to the front wheels  14 ,  14 , respectively. Also, the electronic power steering device  32  is equipped with a servo motor with an opening that passes all the way through its central section. A rotor of this servo motor and the rack shaft are connected with a ball screw mechanism (not shown in the figure). With this structure, the servo motor assists the steering of the steering wheel  31  with the necessary force when the front wheels  14 ,  14  are to be turned.  
         [0037]     The actuator ECU  41  executes a transmission ratio changing program PG 1  shown in  FIG. 3  at a predetermined period to perform the operations in a transmission ratio control block BL 10  shown in  FIG. 4 . More specifically, when the transmission ratio changing program PG 1  is executed, the actuator ECU  41  captures data such as the vehicle velocity, the steering angle of the steering wheel  31 , the turning angle of the front wheels  14 , the lateral G, and the yaw rate (S 10 ). Next, a vehicle LAN is used to retrieve the 4WD status from the drive distribution changing ECU  49  (S 20 ).  
         [0038]     The vehicle velocity retrieved by the actuator ECU  41  is determined by calculating the average of detection values WS 1 -WS 4  of vehicle velocity sensors  14 A,  15 A disposed at the front wheels  14  and the rear wheels  15 . Also, the steering angle is detected by the steering angle sensor  36 , and the turning angle is detected by a resolver installed in the torque sensor  37 . Furthermore, the lateral G is detected by an acceleration pickup (not shown in the figure) that is equipped in the vehicle  10 . The yaw rate is detected by a yaw rate sensor equipped in the vehicle  10 .  
         [0039]     When data such as the vehicle velocity and the 4WD status is retrieved, the actuator ECU  41  then performs vehicle speed map calculations (S 30 , which corresponds to the operations performed in block BL 30  in  FIG. 4 ), that uses a vehicle velocity/transmission ratio map to determine a transmission ratio that corresponds to the vehicle velocity. In this embodiment, a transmission ratio R 1  is calculated as: 
 
Transmission ratio  R   1 =θ20/θ10 
 
 where θ10 is the steering angle of the steering wheel  31  and the θ20 is the turning angle of the front wheels  14 . Thus, for larger values of the transmission ratio R 1 , the amount of steering for the steering wheel  31  needed to turn the front wheels  14  is smaller. For smaller values of the transmission ratio R 1 , the amount of steering for the steering wheel  31  needed to turn the front wheels  14  is larger. Also, the vehicle velocity/transmission ratio map is set up so that the transmission ratio R 1  is smaller for higher vehicle speeds. As a result, when all conditions except vehicle velocity are equal, for the same steering operation on the steering wheel  31 , the front wheels  14  turn more at low velocities and the front wheels  14  turn less at higher velocities. Thus, when the transmission ratio R 1  increases, the driver, who is steering without being conscious of changes in the transmission ratio R 1 , turns the front wheels  14  more when the transmission ratio R 1  is greater, and turns the front wheels  14  less when the transmission ratio R 1  is smaller. 
 
         [0040]     After the vehicle velocity mapping calculation (S 30 ), the actuator ECU  41  performs steering evaluation calculations (S 40 , which corresponds to the operations performed in block BL 40  in  FIG. 4  and corresponds to “means for detecting understeering” or understeering detector). An evaluation is made as to whether the vehicle  10  is understeering or not using a widely known evaluation method (e.g., see Japanese Laid-Open Patent Publication Number 2004-1590). More specifically, slip angles βf, βr for the front wheels  14  and the rear wheels  15  shown in  FIG. 5  (the angle in the direction in which the wheels are turning relative to the direction in which the vehicle  10  is moving) are determined from variables such as the steering angle, the yaw rate (angular velocity at which the vehicle  10  turns), the lateral G, and the vehicle velocity. In this case, the condition (βf−βr)·γ&gt;0 is checked, where βf is the slip angle of the front wheels  14 , βr is the slip angle of the rear wheels  15 , and γ is the yaw rate. If (βf−βr)·γ&gt;0, it is assumed that the current running state involves understeering. If the condition is not met, it is assumed that the current running state does not constitute understeering, but constitutes neutral steering or oversteering.  
         [0041]     The vehicle  10  of this embodiment is set up so that there is a tendency toward understeering when the tires of the front wheels  14  are at the friction limit. Understeering or oversteering can be set up according to the positioning of the center of gravity of the vehicle  10  and the turning center (neutral steer point). If an oversteering set-up is used, the vehicle can spin, making driving difficult for standard drivers. Therefore, the vehicle  10  of this embodiment is set up for a tendency toward understeering, thereby restricting spinning.  
         [0042]     After performing the steering evaluation calculation (S 40 ), the actuator ECU  41  performs change gain determination operations (S 50 , which corresponds to the operations performed in block BL 50  in  FIG. 4 ). Based on a change gain map stored in a ROM (not shown in the figure), a value for change gain g 10  for changing the transmission ratio R 1  is determined. The change gain map stores separate values for the change gain g 10  when there is understeering and when there is neutral steering. More specifically, the understeering values are set to values less than 1, e.g., 0.5-0.9, and the neutral steering values are set, e.g., to  1 . If the steering evaluation calculation (S 40 ) determined that the current running state is understeering, the change gain g 10  is set to an understeering value. If the current running state is determined to be neutral steering, the change gain g 10  is set to a neutral steering value.  
         [0043]     After the change gain determination operations (S 50 ), the actuator ECU  41  performs correction gain determination operations (S 60 , which corresponds to the operations performed in block BL 60  in  FIG. 4 ). Using a correction gain map stored in a ROM (not shown in the figure), a value for a correction gain g 11  for correcting the change (reduction) in the transmission ratio R 1  is determined. This correction gain map stores values for the correction gain g 11  associated with the 4WD status described above. This correction gain map is set up so that for smaller drive distribution ratios to the front wheels  14  in 4WD status, the correction gain g 11  is larger. More specifically, if the drive distribution ratio to the front wheels  14  is 100%, the correction gain g 11  is set, e.g., to  1 . Also, as the torque distribution to the front wheels  14  drops from 100%, the correction gain g 11  increases to a value greater than 1. If the 4WD status becomes 50%, resulting in complete four-wheel drive status, the correction gain g 11  becomes a predetermined value which is greater than 1.  
         [0044]     After the correction gain determination operation (S 60 ), the actuator ECU  41  performs an operation to change the transmission ratio and to correct the change (S 70 , which corresponds to the operations performed in block BL 70  in  FIG. 4 ). More specifically, the change gain g 10  and the correction gain g 11  are multiplied to the transmission ratio R 1  determined at the vehicle speed map calculation (S 30 ). If there is understeering, the change gain g 10  is a predetermined value less than 1, thus reducing the transmission ratio R 1  when the change gain g 10  is multiplied to the transmission ratio R 1 . By multiplying the changed transmission ratio (R 1 ·g 10 ) with the correction gain g 11 , the transmission ratio R 1  is corrected (adjusted) so that it is either reduced significantly or reduced somewhat less. More specifically, if the drive distribution ratio to the front wheels  14  is 100%, the correction gain g 11  may be, e.g., 1, so no correction is performed. If the drive distribution ratio to the front wheels  14  is less than 100%, then the correction gain g 11  is a predetermined value of 1 or greater, so the reduction from the corrected transmission ratio R 1  is less. The transmission ratio R 1  is determined, changed and this change is further corrected as described above, so that a final transmission ratio R 1 ′ to be used is calculated as R 1 ·g 10 ·g 11 .  
         [0045]     In this embodiment, the transmission ratio change and change correction operations (S 70 ) and the change gain determination operation (S 50 ) correspond to a “means for changing transmission ratio based on understeering” or transmission ratio changer based on understeering of the present invention. The transmission ratio change and change correction operations (S 70 ) and the correct gain determination operation (S 60 ) correspond to “means for changing transmission ratio based on drive distribution” or transmission ratio changer based on drive distribution of the present invention.  
         [0046]     When the change and change correction of the transmission ratio (S 70 ) is completed, the transmission ratio changing program PG 1  is exited, and the actuator ECU  41  uses the calculated transmission ratio R 1 ′ and the steering angle θ10 to determine an ACT instruction angle θ30, which corresponds to the operations performed in block BL 80  in  FIG. 4 . Then, based on the ACT instruction angle θ30, a motor drive control module  42  equipped in the actuator ECU  41  sends a drive current to the servo motor  81  of the actuator  33  to control positioning so that the actual ACT angle matches the ACT instruction angle θ30.  
         [0047]     Next, the operations performed by this embodiment having the structure presented above will be described.  
         [0048]      FIG. 6  shows the path taken by the vehicle  10  when it passes a corner while running in two-wheel drive. As shown in  FIG. 7 , when the vehicle  10  reaches the corner, the tires of the front wheels  14  receive a lateral cornering force Fb (friction) from the road surface in response to the centrifugal force involved in the cornering. As shown by the line graph in  FIG. 8 , as the front wheels  14  are turned with a steering operation and the slip angle βf increases, up to a certain point the cornering force Fb increases together with the increase in the slip angle βf, resulting in the vehicle  10  turning according to the slip angle βf. However, when the vector sum Fab reaches the friction circle limit Fmax or if the cornering force is saturated, increasing the slip angle βf of the front wheels does not increase the cornering force Fb. In other words, despite the driver&#39;s intention, turning the steering wheel  31  does not turn the vehicle, thereby resulting in understeering (see path  1  in  FIG. 6 ).  
         [0049]     With the vehicle  10  according to this embodiment, the transmission ratio changing program PG 1  is executed by the actuator ECU  41  at predetermined intervals, and understeering is detected. Then, when understeering is detected, the transmission ratio R 1  between the steering wheel  31  and the front wheels  14  is multiplied by the change gain g 10 , which has a value of less than 1, thereby changing the transmission ratio R 1  downward. As a result, turning the steering wheel  31  by a large amount turns the front wheels  14  by a relatively small amount, thus restricting saturation of the cornering force Fb and limiting understeering (see path  2  of  FIG. 6 ).  
         [0050]     When understeering takes place and it is determined that the front wheels  14  are slipping, the drive distribution ratio to the front wheels  14  is reduced. When this is done, the limit value within the friction circle of the cornering force Fb increases by the amount of decrease in the friction from the drive friction force Fa received by the front wheels  14  from the road surface (see  FIG. 7 ). With the vehicle  10  of this embodiment, if the drive distribution ratio to the front wheels  14  is reduced, a correction gain g 11  that is 1 or greater is multiplied to the changed transmission ratio (=R 11 ·g 10 ), thus applying a correction that reduces the change (reduction) in the transmission ratio R 1 . As a result, correction is applied in the direction of turning the front wheels  14  more in response to steering the steering wheel  31 . This makes the vehicle more easy to turn and allows the path to change from the understeering path to one approaching neutral steering (see path  4  in  FIG. 6 ).  
         [0051]     As described above, the control system of the vehicle  10  according to this embodiment uses the drive distribution ratio to control the transmission ratio of the steering angle of the steering wheel  31  to the turning angle of the front wheels  14 . As a result, the tire performance of the front wheels  14  can be taken almost to its limit, and understeering can be limited in an effective manner.  
         [0052]     The present invention is not restricted to the embodiment described above. For example, the embodiment described below lies within the technical scope of the present invention. Furthermore, various other changes may be made in the implementation without departing from the scope of the invention.  
         [0053]     In the embodiment described above, the product of the transmission ratio R 1  with the change gain g 10  and the correction gain g 11  results in a value less than that of the transmission ratio R 1 . However, if the drive distribution to the front wheels  14  is at or less than a predetermined value, it would also be possible to have the product of the transmission ratio R 1  with the change gain g 10  and the correction gain g 11  to be a value greater than that of the transmission ratio R 1 . More specifically, it would be possible for the change gain g 10  to be 0.8 and for the correction gain g 11  when the drive distribution ratio to the front wheels  14  is less than 75% to be 1.5. The product of the transmission ratio R 1  with the change gain g 10  (=0.8) and the correction gain g 11  (=1.5) would then be 1.2 times the value of the transmission ratio R 1 .  
         [0054]     In the present invention, it is also possible to have a “steer-by-wire” steering system in which the steering wheel  31  and the front wheels are separated mechanically and connected electrically.  
         [0055]     In this embodiment, the present invention is implemented in a steering system  30  equipped with an electronic power steering device  32 . However, it would also be possible to use a steering system equipped with hydraulic power steering.  
         [0056]     Having described preferred embodiments of the invention with reference to the accompanying drawings, it is to be understood that the invention is not limited to those precise embodiments, and that various changes and modifications may be effected therein by one skilled in the art without departing from the scope or spirit of the invention as defined in the appended claims.