| 摘要 |
An electronic control unit inputs a side slip angle ² of a vehicle body in step S11. Next, in step S13, the unit calculates, while using the side slip angle ² of the vehicle body, a dynamic zero point ´o for reducing a lateral force generated in the vehicle due to the side slip angle ² of the vehicle body. Next, in step S14, the unit calculates a steering angle ´a, which is represented by the difference between the dynamic zero point ´o and a steering angle ´ detected by a steering angle sensor. Next, in step S15, the unit calculates a reaction torque Tz having a predetermined relation with the steering angle ´a. Subsequently, in step S16, the unit drives and controls an electric motor to generate the calculated reaction torque Tz. Thus, the unit guides a driver to a proper steering-wheel rotating direction.
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