| 摘要 |
PROBLEM TO BE SOLVED: To obtain a steering feeling close to that of a normal condition even during failure of a torque sensor. SOLUTION: The electric steering device is equipped with an assist motor 10 for generating assist torque for assisting steering, a steering torque sensor 16 for detecting steering torque input by a driver, a yaw rate sensor 18 for detecting an actual yaw rate generated in a vehicle, and a torque sensor failure detecting part 23 for determining whether or not the steering torque sensor 16 is normal. When the steering torque sensor 16 is determined to be normal by the torque sensor failure detecting part 23, an assist current supplied to the assist motor 10 is controlled based on a detected value of the steering torque sensor 16, and when the steering torque sensor 16 is determined to be abnormal by the torque sensor failure detecting part 23, the assist current supplied to the assist motor 10 is controlled based on deviation between a model yaw rate calculated based on vehicle condition information and an actual yaw rate detected by a yaw rate sensor 18. COPYRIGHT: (C)2009,JPO&INPIT |
