| 摘要 |
PURPOSE:To improve controllability by using a mathematical model considering the dynamic characteristics of a vehicle varied with the change in assist torque and deducing at least one of quantities of motional state presented by this model in steering to control the steering reaction on the basis of the deduced value. CONSTITUTION:On the basis of a mathematical model of a vehicle for simulating changes in dynamic characteristics varying with the changes in the running condition of the vehicle and assist torque Tps of a power steering gear 104 accompanying steering, is provided a deducing means 100 for deducing at least one of quantities of motional state presented by the vehicle model in steering. On the basis of a deduced value M* of the quantity of motional state deduced by the deducing means 100 is determined the desired steering reaction F of a steering wheel 103 by a desired steering reaction value determining means 101. And the steering reaction is generated in the steering wheel 103 by a steering reaction generating means 102 to achieve the desired value F to provide excellent maneuverability.
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