| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique with which a steering angle corresponding to an actual steering wheel angle in a vehicle including a pitman arm turning in a traveling direction and a drag link connecting the pitman arm and a steering knuckle.SOLUTION: A steering sensor 33 detects a steering angle of a steering wheel 31, an acceleration sensor 63 detects a lateral acceleration of a vehicle 100, and a brake control ECU 61 calculates a steering angel error based upon the lateral acceleration, and corrects the steering angle based upon the steering angle error to acquire a steering angle having been corrected. |
