| 摘要 |
PROBLEM TO BE SOLVED: To provide a steering device for a vehicle facilitating driving of the vehicle by suitably controlling turning behavior variation of the vehicle in response to a driver's steering operation. SOLUTION: A turning angle conversion part 53 calculates a sense fitting turning angleδa according to expectation lateral acceleration Gd capable of being perceived by human being. A limitation turning angle operation part 44 calculates a limitation turning angleδb1 limiting increase of a yaw rate gain Yg by limiting a turning gear ration D(θ) by a turning gear ratio MD when a vehicle speed V is small. Further, when the vehicle V is large, it calculates a limitation turning angleδb2 obtained by limiting the yaw rate gain Yg by a yaw rate regular gain Yg0. A turning angle determination part 45 determines a turning angle with a small yaw rate gain Yg of the sense fitting turning angleδa and the limitation turning anglesδb1,δb2 as a target turning angleδc. Thereby, the vehicle can be turned by suitably controlling variation of the turning behavior of the vehicle accompanying increase of the yaw rate gain Yg. COPYRIGHT: (C)2008,JPO&INPIT |
