| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device capable of determining whether a wheel run-off of a road can be reset or not and improving possibility of reset from run-off. SOLUTION: An ECU, when a wheel load P<SB>1</SB>of a right front wheel is a wheel load threshold value P<SB>A1</SB>or more, determines that the right front wheel runs off and, when a wheel load P<SB>2</SB>of a left front wheel is a wheel load threshold value P<SB>A2</SB>or more, determines that a left front wheel runs off. When a determination that any one of the right front wheel and the left front wheel runs off is done, the maximum run-off resetting forceψto be generated for reset from run-off is estimated based on the pushing force applying to a side surface of a side groove in the vertical direction among the maximum rotating force in run-off, in addition to the maximum assist force. When the maximum run-off resetting forceψis a wheel load threshold value P<SB>B</SB>or less, a determination that reset from run-off is impossible is done. When a determination that reset from run-off is possible is done, assist force by an assist motor is gradually increased. COPYRIGHT: (C)2009,JPO&INPIT |
