| 摘要 |
PROBLEM TO BE SOLVED: To properly restrain influence of lateral directional disturbance on steering, without reacting to a detecting error of a detecting means, in controlling the steering on the basis of a state quantity estimated by using an observer. SOLUTION: This power steering device has an estimating means 32 for estimating by separating the lateral directional disturbance of a vehicle into lateral force disturbanceψ<SB>cw</SB>trying to move the vehicle in the lateral direction by lateral force and lateral gradient disturbanceψ<SB>rb</SB>acting on the vehicle by a lateral inclination of a road surface from a steering angleδ, a yaw rateγ, lateral acceleration G<SB>y</SB>and a vehicle speed V of the vehicle respectively detected by a steering angle detecting means 22, a yaw rate detecting means 23, a lateral acceleration detecting means 24 and a vehicle speed detecting means 25 on the basis of a steering-vehicle system model of the vehicle; and a control means 30 for compensating for quantity of steering assist torque by processing a correction quantity by a high-pass-filter by setting the correction quantity of the steering assist torque so as to restrain the lateral directional disturbance of the vehicle from an estimated result by the estimating means 32. COPYRIGHT: (C)2005,JPO&NCIPI |
