Abstract: A control system for steering front wheels and rear wheels of a controlled vehicle has a processing unit such as a microcomputer which determines a desired value of at least one of dynamical variables such as yaw rate, yaw acceleration, and lateral acceleration from sensed steering input and sensed vehicle speed by solving equations of motion of a vehicle in which parameters inherent to the vehicle are set equal to desired values so determined as to provide desired cornering characteristics. From the desired value of the dynamical variable, the processing unit determines desired values of front and rear steering angles of the front and rear wheels required to achieve the desired value of the dynamical variable in the controlled vehicle.

Abstract: The diagnostic device comprises voltage divider resistors, two comparators, a start switch, a microcomputer, two transistors, and two light emitting diodes. The ignition signal is voltage-divided by the voltage divider resistors, and the result of this voltage division is input into the positive terminals of the comparators. Reference voltages are input to the negative terminals of the comparators which determine how high the inputs to the positive terminals must be for each comparator to have an "H" level output. When the start switch is turned ON the device starts to operate. In the microcomputer, which has a timer function built in, the interrupt terminal (INT) becomes connected to the output terminal of the comparator; the reset terminal (RES) becomes connected to the start switch.