| 摘要 |
PROBLEM TO BE SOLVED: To improve a steering feeling.SOLUTION: In a power steering device, target additional friction torque Tft for improving a steering feeling is obtained (steps 30 to 90), and assist torque is controlled on the basis of target assist torque Tat based on the sum of a basic control amount Tab for reducing a steering load on a driver (step 20) and the target additional friction torque Tft (steps 140, 150). In a range where vehicle speed V is very low and self-aligning torque acting on a steering wheel becomes a negative value, magnitude of target friction torque is determined so as to increase as the magnitude of steering angle increases (steps 100 to 120).SELECTED DRAWING: Figure 2 |
