| 摘要 |
<P>PROBLEM TO BE SOLVED: To compensate for the influence of disturbances while reducing an overshoot, by appropriately setting an integral term in servo control according to the state of the disturbance. <P>SOLUTION: Steering is assisted by providing, to a steering system, target steering torque obtained by totalling the steering torque of turning feedforward control output from a curvature control unit 42, the steering torque of a vehicle lateral position control output from a lateral position control unit 43, the steering torque of attitude control around a vehicle vertical axis output from an attitude control unit 44, and steering torque to compensate for deviation of lateral position control output from an integration control unit 45. In this case, by resetting an integral value at appropriate timing with respect to disturbance change and appropriately limiting an integral amount and an integration range according to the size of disturbances, or the like, the influence of disturbances is compensated for while reducing overshoot. <P>COPYRIGHT: (C)2012,JPO&INPIT |
