| 摘要 |
PROBLEM TO BE SOLVED: To compensate slanting by a simpler technique. SOLUTION: When an operator release his/her hand from a steering wheel, yaw rateγchanges according to the magnitude of disturbance which becomes the cause of slanting, therefore, if a release state of the operator is detected ("Yes" in step S105), compensation assist torque T<SB>c</SB>is calculated according to the yaw rateγ(step S106) triggered by detection of this release state, and an electric motor 8 is drive-controlled so that this compensation assist torque T<SB>c</SB>is generated. At this time, the yaw rateγis generated, due to disturbance, in other words, in slanting direction, therefore, the compensation assist torque T<SB>c</SB>of the opposite direction of the yaw rateγis calculated, and the compensation assist torque T<SB>c</SB>is made larger as the yaw rateγis larger. COPYRIGHT: (C)2008,JPO&INPIT |
