| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To further highly accurately estimate steering torque or rack axial force, in a vehicular steering device. <P>SOLUTION: This vehicular steering device includes a vehicle speed detecting means 14 for detecting a vehicle speed, a steering angle detecting means 4 for detecting a steering angle in steering operation input to a steering shaft 3, an electric motor 5 for imparting steering assist force or controlling the steering angle of steered wheels 9FR and 9FL to the steering operation input to the steering shaft 3, a steering rack member 7 for transmitting rotation of the steering shaft 3 to the steered wheels, a frictional energy calculating means for calculating frictional energy between a road surface and the steered wheels 9FR and 9FL generated in steering of the steered wheels 9FR and 9FL, a steering force estimating means for estimating the steering torque or the rack axial force of the steering rack member 7 based on the frictional energy and the steering angle, and a motor control means for controlling driving of the electric motor 5 in response to the steering torque or the rack axial force estimated by the steering force estimating means. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
