Patent attributes
A target turning angle calculation part 51 calculates a target turning angle δ on the basis of a steering angle θ and a vehicle speed V. A correction turning angle calculation part 52 calculates a transfer function K(s) which is a second transfer function, depending on the vehicle speed V, by using a difference between a transfer function G(s) which is a first transfer function determined on the basis of the specification of the vehicle and a stationary component G(0) of the transfer function G(s), the first transfer function having as an input a turning angle δ and as an output a yaw rate γ of the vehicle, the second transfer function having as an input a target turning rate δ*′ obtained by temporally differentiating the target turning angle δ* and as an output a correction turning angle δc. The correction turning angle calculation part 52 calculates a correction turning angle δc by multiplying the transfer function K(s) by the target turning rate δ*′. A final target turning angle calculation part 53 inputs thereto the target turning angle δ* from the target turning angle calculation part 51 and the correction turning angle δc from the correction turning angle calculation part 52 and calculates a final target turning angle δd by adding the correction turning angle δc to the target turning angle δ*.
