| 摘要 |
PROBLEM TO BE SOLVED: To alleviate a processing load of a CPU without changing hardware. SOLUTION: A steering auxiliary command value computing portion 10, a phase compensator 20, a convergence controller 60, and an inertia compensating part 70 carry out computing processing on the basis of variable gains K<SB>1</SB>, K<SB>2</SB>, K<SB>6</SB>and K<SB>7</SB>generated by vehicle speed response maps 13, 23, 63 and 73 according to a vehicle speed signal V and recorded. These variable gains K<SB>1</SB>, K<SB>2</SB>, K<SB>6</SB>and K<SB>7</SB>are updated in a predetermined period (for example, a period of 50 ms) which is set in advance. COPYRIGHT: (C)2008,JPO&INPIT |
