| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular steering control device allowing an optimal turning-wheel response speed according to a manipulated state of a steering wheel.SOLUTION: A target turning angle that is a front-wheel turning angle in normal control and an uncorrected state turning angular velocity that is a change rate of the target turning angle are computed based on a steering angle and vehicle velocity, and an optimal turning angular velocity is computed using the uncorrected state turning angular velocity, steering angle, and vehicle velocity. A target front-wheel turning angular velocity is computed using the target front-wheel turning angle, uncorrected state turning angular velocity, and optimal turning angular velocity, and a final steering reaction force is computed using the steering angle and vehicle velocity. By multiplying the uncorrected state turning angular velocity by all of a steering angle dependent correction gain, steering angular velocity dependent correction gain and vehicle velocity dependent correction gain, the optimal turning angular velocity is corrected to become smaller than the uncorrected state turning angular velocity. Front-wheel turning servo control is carried out according to the optimal turning angular velocity. |
