Apparatus for controlling steering of wheels of a vehicle

An apparatus for controlling steering of wheels of a vehicle, comprising:

• a steering sensor for detecting a steering angle of a steering wheel;
• a vehicle behavior sensor for detecting variables representing vehicle behavior;
• control means comprising
• feed forward signal operating means including
• a steering angle signal circuit for transmitting, without modification, a steering angle signal output from said steering sensor,
• a steering angle signal operating circuit including a first coefficient circuit for multiplying the steering angle signal with a coefficient to correct the magnitude of the detected steering angle.
• a steering angular velocity signal operating circuit including a differentiator for calculating a steering angular velocity signal from the steering angle signal and a second coefficient circuit for multiplying the steering angular velocity signal with a coefficient, and
• an adder for adding signals output from said steering angle signal circuit, said steering angle signal operating circuit, and said steering angular velocity signal operating circuit to output a sum signal,
• the sum signal being output as a feed forward signal,
• feedback signal operating means comprising a vehicle behavior state variable signal operating circuit including a third coefficient circuit for multiplying with a coefficient the signals for variables representing vehicle behavior output from said vehicles behavior sensor, said vehicle behavior state variable signal operating circuit outputting a signal as a feedback signal, and
• control signal operating means including an adder/subtractor for calculating a difference or a sum of signals output from said feed forward signal operating means and said feedback signal operating means and for outputting a steering control signal;
• driving means for amplifying the steering control signal output from said control means;
• driving means for amplifying the steering control signal output from said control means;
• and
• actuator means for applying an optimal steering angle of either front or rear wheels or both on the basis of an output from said driving means.