Importance

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Abstract

In steering control for individually controlling wheel steering angles .alpha..sub.1, .alpha..sub.2, .alpha..sub.3, and .alpha..sub.4 of a vehicle in accordance with a condition equation for forming a prescribed mode, one of the condition equation variables is used as a steering command value S. In a process for changing the command value S from a value S.sub.1 to a value S.sub.2, for transitioning the steering angles .alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4 from values [.alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4].sub.S1 corresponding to the steering command value S.sub.1, to values [.alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4].sub.S2 corresponding to the steering command value S.sub.2, the steering angles .alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4 are changed toward incremental transition steering angles [.alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4].sub.S1+.DELTA.S corresponding to a steering command value (S.sub.1+.DELTA.S), which is the steering command value S.sub.1 to which an incremental steering command value .DELTA.S has been added. After the steering angles .alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4 reach their incremental transition steering angles and steering angle conformance is detected, the angles are changed toward incremental transition steering angles [.alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4].sub.S1+n.DELTA.S corresponding to a steering command value (S.sub.1+n.DELTA.S), which is the steering command value to which an incremental steering command value .DELTA.S has been added [n times] in succession. This is repeated as many times as required to change the steering angles .alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4 from [.alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4].sub.S1 to [.alpha..sub.1, .alpha..sub.2, .alpha..sub.3, .alpha..sub.4].sub.S2.

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First Claim