| 摘要 |
PROBLEM TO BE SOLVED: To surely suppress yawing by neither complicating an apparatus nor deteriorating its maintainability. SOLUTION: A steering control section 20 judges whether or not an own car is yawing based on the angleθH of a steering wheel, the angular velocity (d<SP>2</SP>θH/dt<SP>2</SP>) of the steering wheel, a torque TH applied on front wheels 7fl, 7fr, and a yaw rateψ. When the own car is yawing, a torque M about a king pin is calculated based on the torque TH applied on the front wheels 7fl, 7fr. Then, an estimated lateral force Fy to be applied on the front wheels 7fl, 7fr is calculated as a yawing parameter from the torque M about the king pin. A target front wheel steered angleδft is calculated from the estimated lateral force Fy. Then, a steering angle correcting valueθM is calculated based on the target front wheel steered angleδft and the current angleθH of the steering wheel. Then, the signal of the motor turning angleθM is output to a motor driving section 21. Further, the steering control section 20 lights an alarm lamp 22 when the yawing has been generated. COPYRIGHT: (C)2008,JPO&INPIT |
