Abstract: A rear-wheel toe angle variable vehicle changes a toe angle of a rear wheel by a rear toe actuator including: a housing connected to one of a rear-wheel support member and a body; a motor in the housing; a rod connected to the other of the rear-wheel support member and the body; a nut provided in one of the housing and the rod; a screw shaft provided in the other of the housing and the rod; a rotation transmission unit in the housing for transmitting rotation of the motor to the nut or screw shaft; and a rotation amount detection unit for detecting a rotation amount of one of the rotation transmission unit and the nut or screw shaft. The vehicle estimates an operation amount of the rear toe actuator based on the detected amount, and performs feedback control of the motor using the estimated amount.

Abstract: A rear-wheel toe angle variable vehicle changes a toe angle of a rear wheel by a rear toe actuator including: a housing connected to one of a rear-wheel support member and a body; a motor in the housing; a rod connected to the other of the rear-wheel support member and the body; a nut provided in one of the housing and the rod; a screw shaft provided in the other of the housing and the rod; a rotation transmission unit in the housing for transmitting rotation of the motor to the nut or screw shaft; and a rotation amount detection unit for detecting a rotation amount of one of the rotation transmission unit and the nut or screw shaft. The vehicle estimates an operation amount of the rear toe actuator based on the detected amount, and performs feedback control of the motor using the estimated amount.

Abstract: Generally, the toe angle target speed limiting unit (84A) adds a toe angle target value ?T2P subjected to the primary delay to the result of a min-max processing the tracking error ??T1A by an adder (58A) to output it as a toe angle target value ?T2A to a target current calculating unit (86). However, in this toe angle target speed limiting unit (84A), a switching control (steering direction change control) for generating a maximum value ??Tmax as the toe angle target change quantity ??T2 and a hold control are made when a neutral position of the toe angle target value ?T2A which is prior to the toe angle command value ?T1 which is reached.

Abstract: Generally, the toe angle target speed limiting unit (84A) adds a toe angle target value ?T2P subjected to the primary delay to the result of a min-max processing the tracking error ??T1A by an adder (58A) to output it as a toe angle target value ?T2A to a target current calculating unit (86). However, in this toe angle target speed limiting unit (84A), a switching control (steering direction change control) for generating a maximum value ??Tmax as the toe angle target change quantity ??T2 and a hold control are made when a neutral position of the toe angle target value ?T2A which is prior to the toe angle command value ?T1 which is reached.