| 摘要 |
A steering system is provided which more appropriately alleviates driver's discomfort in the wrists. A steering ECU 40 has an estimated grip angle calculating circuit 41, a deviation calculating circuit 42, an automatic steering torque command value calculating circuit 43, and a grip angle command value calculating circuit 44. The estimated grip angle calculating circuit 41 calculates an estimated grip angle ¸2e based on a steering angle ¸1. The deviation calculating circuit 42 calculates a deviation d¸g based on the steering angle ¸1, a steering angle deviation d¸s, and the estimated grip angle ¸2e. The grip angle command value calculating circuit 44 calculates a grip angle command value ¸g* that is a sum of a grip angle ¸2 and the deviation d¸g. |
