| abstract |
(57) [Abstract] [Purpose] In a vehicle equipped with a four-wheel steering system (4WS), the vehicle has both directional stability and acceleration. A steering characteristic control means (4WS) for controlling a steering characteristic of a vehicle based on a deviation between an actual yaw rate of the vehicle and a target yaw rate, a target slip amount setting means for setting a target slip amount of a drive wheel, and a drive wheel slip Sometimes, the drive torque control means (slip control device) that controls the drive torque so that the drive wheel slip reaches the target slip amount, and the wheel steering angle and the yaw rate deviation during operation of the steering characteristic control means are weighted and this weighted And a target slip amount correcting means for correcting the target slip amount so that the target slip amount becomes smaller as the operating range increases. |