| 摘要 |
<P>PROBLEM TO BE SOLVED: To improve the stability of a vehicle behavior by suppressing additional steering, and facilitating a counter-steer operation when a steer state of a vehicle is at least oversteered. <P>SOLUTION: The grip loss degree indicating the degree of grip loss of the tire is detected by a grip loss degree detection means 23. The steer state of the vehicle is detected by a steer state detection part 24. A yaw rate of the vehicle is detected by a yaw rate detection means 42. A motor angle speed of an electric motor 12 is detected by an angle speed operation part. Further, the motor angle speed of the electric motor 12 is detected by an angular speed operation part. An inertial compensation value with respect to a steering assist current command value is corrected by a compensation value correction means 25 based on the detected yaw rate, motor angle speed, steer state, and grip loss degree. <P>COPYRIGHT: (C)2009,JPO&INPIT |
