| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering reaction force control device for a steer-by-wire having stable steering reaction force for achieving comfort steering feeling on the basis of a behavior state of a vehicle and a road surface state without being affected by high frequency components included in an acquisition value of a sensor or the like to be used for generating the steering reaction force.SOLUTION: In a steering reaction force control device for a steer-by-wire, steering control means 16 includes: turning reaction force or the like estimation means 17 for calculating an estimation value of turning reaction force or the like from a vehicle motion model 20; and comparison means 18 for comparing the estimation value calculated in the turning reaction force or the like estimation means 17 with a detection value detected from a turning reaction force sensor 8 and selecting either the estimation value or the detection value; and steering reaction force generation means 19 which uses the selected estimation value or detection value for generation of steering reaction force. The comparison means 18 selects the estimation value calculated from the vehicle motion model 20 if vehicle speed is a fixed value or more, and selects the detection value detected from the turning reaction force sensor 8 if the vehicle speed is less than the fixed value.SELECTED DRAWING: Figure 2 |
