Patent attributes
In steering control for individually controlling wheel steering angles α1, α2, α3, and α4 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 S1 to a value S2, for transitioning the steering angles α1, α2, α3, α4 from values [α1, α2, α3, α4]S1 corresponding to the steering command value S1, to values [α1, α2, α3, α4]S2 corresponding to the steering command value S2, the steering angles α1, α2, α3, α4 are changed toward incremental transition steering angles [α1, α2, α3, α4]S1+ΔS corresponding to a steering command value (S1+ΔS), which is the steering command value S1 to which an incremental steering command value ΔS has been added. After the steering angles α1, α2, α3, α4 reach their incremental transition steering angles and steering angle conformance is detected, the angles are changed toward incremental transition steering angles [α1, α2, α3, α4]S1+nΔS corresponding to a steering command value (S1+nΔS), which is the steering command value to which an incremental steering command value ΔS has been added [n times] in succession. This is repeated as many times as required to change the steering angles α1, α2, α3, α4 from [α1, α2, α3, α4]S1 to [α1, α2, α3, α4]S2.
