| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a steering device for a vehicle and a method of steering the vehicle preventing bias traveling of the vehicle with high accuracy. <P>SOLUTION: Bias traveling prevention control is carried out in which a steering system is provided with bias traveling prevention steering auxiliary torque in the direction canceling steering torque Tp at the time of traveling straightforwardly based on a history of the steering torque Tp when the straightforward traveling condition of the vehicle is detected. At this time, when the difference ¾T-ϕ¾ between a steering torque T and yaw rate ϕ is at or above a predetermined threshold value TH1, a vehicle behavior is determined to be behind with respect to the steering of the steering wheel. In this case, the straightforward traveling condition of the vehicle is set undetected, and the steering torque Tp at this time is not included in the above history. <P>COPYRIGHT: (C)2010,JPO&INPIT |
