| 摘要 |
PROBLEM TO BE SOLVED: To prevent a driver from receiving unfamiliar feeling caused by generation of large auxiliary steering torque in a region of a small driving force/ braking force distribution amount, in a cooperative control device for a vehicle for cooperatively controlling a driving force/braking force distributor and an electric power steering gear to reduce a torque steering phenomenon. SOLUTION: Although a torque steering amount generated in response to actuation of a driving force distributor is proportional to a torque distribution amount, a current correcting amount &Delta I for controlling an electric power steering gear to nagate the torque steering amount is set in zero in an unsensed zone provided in a range of small torque distribution amount, the correcting amount &Delta I is thereafter increased suddenly with a large gradient, and then it is held in the fixed maximum value &Delta IMAX. By this characteristic, a driver is prevented from receiving strange feeling caused by generation of improperly large auxiliary steering torque in the range of the small distribution amount, and a lag of leading-up of the auxiliary steering torque caused by the unsensed zone is compensated. |
