| 摘要 |
PROBLEM TO BE SOLVED: To provide appropriate steering feeling even on a bank road, with a configuration in which an actual steering angle is made to follow a target steering angle corresponding to an input torque, in an electric power steering device.SOLUTION: When a vehicle travels on a bank road, a target turning angle &thetas;p, when a total torque is zero, is made to deviate to a side to which a road surface of the bank road goes down from a neutral turning angle (a bank road correspondence control) through a zero point change model 71. Thus, for example, when the vehicle travels on the bank road, even if a steering torque Th is not applied, a steering angle corresponding to the bank road is obtained. Thus, even in a configuration in which a target turning angle &thetas;p corresponding to the total torque is obtained, an appropriate steering feeling is obtained on the bank road. |
