| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicular steering control device capable of correctly detecting the occurrence of disturbance by an inexpensive and simple constitution even in a range of small steering torque, suppressing the disturbance, and performing the consistent control of a vehicle. SOLUTION: The vehicular steering control device comprises a road surface reaction torque detector 12 for detecting the actual road surface reaction torque Talign, a vehicle speed detector 10 for detecting a vehicle speed V, a steering wheel angle detector 5 for detecting a steering wheel angle Theta, a target road surface reaction torque computation unit 19 for computing target road surface reaction torque Talign_ref, and a disturbance occurrence detection unit 20 for outputting a disturbance state signal Dist(s) by detecting the disturbance from the actual road surface reaction torque Talign and the target road surface reaction torque Talign_ref. An assist torque computation unit 21 for computing assist torque Tassist includes a viscosity compensation unit 32 or a reaction force compensation unit 33 for compensating the assist torque Tassist. The viscosity compensation unit 32 or the reaction force compensation unit 33 computes compensation torque based on a disturbance state signal Dist(s). COPYRIGHT: (C)2009,JPO&INPIT |
