STEERING CONTROLLING DEVICE, AUTOMOBILE, AND STEERING CONTROLLING METHOD

摘要

PROBLEM TO BE SOLVED: To provide a steering controlling device which can compensate a regular disturbance input to a vehicle without obstructing the transmission of information of a flat tire occurrence, and to provide an automobile equipped with the steering controlling device, and a steering controlling method. SOLUTION: The disturbance input to the vehicle is estimated based on the history of a steering torque under a linear running state of the vehicle. A disturbance compensating steering assisting force is imparted in the direction for suppressing the steering torque which is generated by the disturbance in response to the estimated disturbance estimation value. In this case, if a blowout of a wheel is detected, the disturbance compensating steering assisting force is reduced and corrected to a disturbance estimated value at the time of the occurrence of the blowout. COPYRIGHT: (C)2007,JPO&INPIT