| 摘要 |
PROBLEM TO BE SOLVED: To compensate for a shortage of steering reaction force resulting from frequency response characteristics of road-surface reaction force. SOLUTION: When performing steering control of a steering wheel according to driver's steering operation, the road-surface reaction force of the steering wheel is detected, upon which the steering reaction force Tr is applied to a steering operation system according to detected road-surface reaction force. By executing decoupling filtering operation on the detected road-surface reaction force such that the higher a vehicle speed V, the greater will be gain and a phase angle is advanced, the steering reaction force Tr, applied to the steering operation system, is compensated according to the frequency response characteristics of the road-surface reaction force. Further, the amount of compensation at that time is altered, depending on whether the steering operation belongs to an incremental steering behavior or a decremental steering behavior, and limited to a predetermined upper limit or less. COPYRIGHT: (C)2010,JPO&INPIT |
