Turning control device and turning system

Abstract

To provide a turning control device that prevents deviation from a target traveling route and prevents deterioration in riding comfort and electric power consumption during rotation of a vehicle in which three or more wheels are independently turned.SOLUTION: Turning control devices 601 to 604 control turning of respective wheels in a vehicle in which three or more wheels not mechanically constrained to each other can be independently turned. A curve information creation unit 65 creates curve information of a road in a vehicle traveling direction, based on acquired original information. A target vehicle operation determination unit 66 determines a target vehicle operation such that the vehicle traces a target travel route, based on a position of the host vehicle, a vehicle speed, and the curve information. A turning center coordinate determination unit 67 determines turning center coordinates, based on vehicle specifications and the target vehicle operation. A target turning angle determining unit 68 determines target turning angles δ1*to δ4*o f the respective wheels, based on the determined turning center coordinates.SELECTED DRAWING: Figure 6

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