| 摘要 |
PROBLEM TO BE SOLVED: To attain sufficient steering feeling by sufficiently ensuring returning force for resetting a steering wheel to a neutral position even in the state that middle point learning of a steering angle is not completed. SOLUTION: The electric power steering device has a motor 9 for generating auxiliary steering force; and a steering control device 21 for controlling the auxiliary steering force of the motor 9 such that the returning force of required magnitude for resetting the steering wheel to the neutral position can be obtained based on a steering angle and a yaw rate. In the control device, steering angle middle point learning for determining the steering angle middle point based on a predetermined steering angle middle point leaning condition is performed by the steering angle middle point learning part 36, and the control is performed making the thus obtained steering angle middle point as reference. Especially here, during when the steering angle middle point learning is completed, the control is performed such that a yaw rate correction value outputted from a yaw rate reaction force control part 33, namely a yaw rate component in the returning force is increased. COPYRIGHT: (C)2010,JPO&INPIT |
