| 摘要 |
PURPOSE: To reduce the cost of a device while a high failsafe performance is being secured, by equipping an output comparison means to compare auxiliary steering angle target value output from a main CPU with auxiliary steering angle target value output from a sub CPU. CONSTITUTION: A main CPU (j) to control an auxiliary steering angle actuator (h) is made up by being equipped with an auxiliary steering angle feed forward target value calculating means (c); an operation state quantity surmising means (d); an auxiliary steering angle feedback target value calculating means (f); and an auxiliary steering angle target value calculating means (g). Also, a sub CPU (k) is equipped with the same target value calculating means (c), (g), and is constituted so that at the time of calculating an auxiliary steering angle target value, an auxiliary steering angle feedback target value may be obtained from communication from the main CPU (j). Each auxiliary steering angle target value output sought by each CPU (j), (k) is compared mutually by means of an output comparing means (m), and in a case in which it is judged at a failsafe means (q) that its comparison variation has surpassed a predetermined value, the control of an auxiliary steering angle actuator (h) is made to stop. |
