| 摘要 |
PROBLEM TO BE SOLVED: To properly restrict steering assist when slip occurs by improving detection accuracy of wheel slip in assist control that is performed when failure in a torque sensor is detected.SOLUTION: An estimation steering calculation part 821 calculates an estimation steering angle &thetas;e based on wheel speed Vfl, Vfrm Vrl, Vrr. A cutoff frequency setting part 822 sets a high cutoff frequency in a circumference having high possibility that a difference between right and left wheel speed largely changes and sets a low cutoff frequency in a circumference having possibility except for the possibility based on a steering input state amount and a vehicle output state amount. A filtering part 823 performs filtering to the estimation steering angle &thetas;e by low pass filter having a set cutoff frequency characteristics. |
