| 摘要 |
<p>PROBLEM TO BE SOLVED: To reduce discomfort feeling at the time of steering a handle, relating to a steering reaction force control device that is applied to a vehicle of a steering-by-wire method.SOLUTION: A steering reaction force control device of a steering-by-wire method includes steering friction torque estimating means (23, 24) for precisely estimating and calculating a friction torque on a reaction force side at the time of steering leftwise/rightwise, based on a value half the difference of steering torques at the time of additional turning and returning of a handle when steering leftwise/rightwise. Thus, feeling of handle operation can be controlled uniformly leftwise and rightwise, enabling reduction of feeling of discomfort of a driver.</p> |
