| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric power steering device capable of adapting not only to the difference of left and right wheel in drive force or braking force but also to the miscatching of a steering wheel generated by a road surface. SOLUTION: A vehicle body speed is calculated from a wheel speed detected by a wheel speed detection means 32 for detecting the wheel speed of the vehicle by a vehicle speed operation means 33, a target motor current is calculated by an assist control means 34 according to the calculated vehicle body speed and steering torque. Further, a slip amount of the left and right wheels is calculated from the wheel speed and the vehicle body speed by a slip operation means 35, a target motor current is corrected by a self-steer correction control means according to an integration value obtained by integrating the calculated slip amount of the left and right wheel by a slip integration operation means 36, thereby, influence by difference of the drive force or the braking force of the left and right wheels and influence of the road surface are suppressed. COPYRIGHT: (C)2009,JPO&INPIT |
