| 摘要 |
<p>PROBLEM TO BE SOLVED: To give proper steering reaction to a steering wheel according to a steering condition by generating an output target value of an electric motor on the basis of steering force of a manual steering system and a maximum allowable steering angle of the manual steering system set on the basis of a steering angle and a friction coefficient of a road surface. SOLUTION: When a vehicle travels, a maximum road surface friction coefficientμmax is estimated by multiplying outputαd of a longitudinal acceleration detecting means 21 by a value (1/g) corresponding to the inverse number of gravitational acceleration by a multiplier 22. Next, a maximum allowable steering angleθmax steerable in a present traveling road surface condition is obtained from a stored map by a maximum allowable steering angle setting means 23. Next, steering reaction Tc is set in a steering reaction setting means 26 on the basis of the maximum allowable steering angleθmax and manual steering force Tp outputted from a steering force detecting means 11, and a damping coefficient is found from deviation between the maximum allowable steering angleθmax and outputθof a steering angle detecting means 12 by an output target value generating means 27, and a necessary output target value To is obtained from this damping coefficient and a driving force target value.</p> |
