| 摘要 |
A computed SAT value SATa is computed, and an estimated SAT value SATb is estimated from lateral force. A grip loss level "g" is computed from difference between the computed self aligning torque value SATA and the estimated SAT value SATb. Torque correction value DeltaT which becomes greater with an increase in grip loss level "g" and an increase in angular speed omega is set in accordance with the grip loss level "g" and the angular speed omega of an electric motor 12 serving as corresponding steering angular speed. The corresponding torque correction value DeltaT is subtracted from the current command value Itv responsive to the steering torque T and the vehicle speed V, thereby correcting the current command value Itv. The thus-corrected current command value Itv is taken as a steering assist command value Im, and the electric motor 12 is driven based on the steering assist command value.
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