| 摘要 |
<p>The deterioration of steering feel caused by torque steer is prevented. In a vehicle (10) constructed to be able to apply independent driving force to right and left wheels by in-wheel motors (300R, 300L), an ECU (100) performs steering feel compensation control. In the steering feel compensation control, a torque steer compensation control amount is calculated when the vehicle (10) is in a turning state and a right/left driving torque deviation Th_diff occurs between the right and left wheels, and the final assist control amount of an EPS (200) is determined on the basis of the torque steer compensation control amount. Thus, the deterioration of steering feel is prevented. In particular, the torque steer compensation control amount is limited such that the direction in which the EPS (200) applies assist toque is not the direction opposite to the wheel-turning direction.</p> |
