PURPOSE: To improve the stability of a vehicle both in the stationary condition and in the transitional condition.
CONSTITUTION: The operational variables of actuators 7L, 7R are controlled to change the caster angle based on the vehicle speed Vel, the angle θ of the steering wheel, the angular velocity θs of the steering wheel, and the road surface condition μ, the caster angle is increased in the steering operation to increase the restoring moment of the wheels, the vehicle is stabilized by increasing the caster angle by the vehicle speed Vel in the non-steering operation and in the initial steering operation while the vehicle is stabilized by increasing the caster angle according to the steering condition in the steering operation, and the stability of the vehicle is improved both in the stationary and traditional conditions.
MIICHI YOSHIAKI
TAKEO TAKESHI
TANAKA TADAO
